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Combine the oat milk, coconut milk, vanilla bean pod, and scraped seeds in a small saucepan. Set over medium-low heat and warm, stirring occasionally, until steaming and small bubbles form around the edges, about 5–6 minutes — do not let it boil.
Remove from heat and stir in the maple syrup and the cardamom, if using. Let the vanilla bean steep for 1 minute, then remove and discard the pod.
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