Place the sugar, water, and juice in a medium sauce pan and stir over medium heat. Bring to a rolling boil over medium heat until the sugar dissolves.

Add the orange zest, cranberries and ground cinnamon and stir to combine. Cook about 2-3 minutes until the cranberries begin to pop. Reduce the heat to medium low and simmer about 5 minutes longer, until the berries have all popped.

Remove from heat and stir in the vanilla extract.

Let stand at room temperature until completely cool (the sauce will thicken as it cools). Cover with plastic wrap or store in an air tight container and chill in the refrigerator for a few hours or overnight.