Slowly heat the whole milk and coconut milk in a saucepan. Keep stirring with the whisk so that nothing builds up. Scrape the pulp from the vanilla pod, add to the milk with the cinnamon and cardamom and stir well. Let the milk simmer gently for about a minute.
Take the saucepan off the stove and stir in the honey. Divide the milk into cups and serve hot immediately.