Add all of the ingredients, except for the greek yogurt, to a medium saucepan. Stir together and bring to a simmer over medium heat.
Once the oats start simmering, stir until the consistancy you desire, roughly 8-10 minutes. If it dries out, add more liquid.
Remove from heat once the oats are cooked and stir in the greek yogurt. Serve with additional (optional) yogurt and a sprinkle of cinnamon.