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Pour the milk into a small saucepan. Add the cardamom and the vanilla bean pod and seeds, if using. Warm over medium-low heat, whisking occasionally, until the milk is steaming and small bubbles form around the edges — about 3 to 4 minutes. Do not let it boil.
Remove from the heat. Discard the vanilla bean pod, if used. Add the honey and maple syrup and whisk until fully dissolved.
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