Crush the green cardamom pods with a mortar & pestle, or make cardamom powder with a spice grinder.
Add all ingredients, including the crushed cardamom, to a small saucepan over medium heat on the stove. Add 1-2 tsp of sweetener, such as pure maple syrup or xylitol. Taste test the milk with 1 tsp, and add more as desired.
Allow the milk to boil. Once boiling, turn the heat off. Cover and let the hot milk sit for 5 minutes to infuse the flavor.
Pour the milk into a mug through a sieve.
If you prefer frothy milk, then froth the milk mixture using a milk frother.