Gently crush cardamom pods to expose seeds (a mortar and pestle or a rolling pin both work well). In a small saucepan, combine milk, cinnamon stick, cardamom, and honey (to taste). Gently warm over medium heat, just until bubbles begin to form around the edge of the pan.**
Remove from heat and let steep 10-30 minutes, depending on how strongly-flavored you like your milk.
Strain milk through a fine-mesh sieve and discard cardamom pods. Return to saucepan and gently rewarm, if desired. Serve with a cinnamon stick. Leftover milk can be stored in the refrigerator in a tightly-covered container and rewarmed as needed.
Don't feel like using the stove? Fill a mug with milk, add about 1/2 tablespoon honey, and a small pinch each of ground cardamom and cinnamon (adjusting both sweetness and spices to taste). Microwave on high for about 45 seconds, stirring halfway through, until warmed. Strain and enjoy.
Strained, infused milk is also delicious prepared in a milk frother or French Press according to your manufacturer's directions.*Cardamom can easily overpower a dish if used with too heavy a hand. When using ground in recipes like these, I tend to think of it in terms of "pinches" rather than teaspoonfuls. It's better to be conservative and add additional to taste than to have to try to dull an overly-spiced recipe.**It's important not to boil or overheat your milk, so it doesn't get an unappealing "cooked" taste.