Anybody have a recipe or DIY version of those vanilla lattes you can get at the gas station?

My guilty pleasure is drinking a skinny french vanilla latte from 7-11. They're cheap, the quality of "espresso" in them is probably just regular coffee, but I want to make one at home. I don't have an espresso machine, but I've got coffee, 2% milk, vanilla beans, and vanilla extract. I know I'm about halfway there…

Anybody have any luck trying to recreate this drink?