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Combine water, tea bag and cinnamon stick in a small saucepan. Bring to a boil; remove from heat. Cover and let stand for 5 minutes. Remove and discard tea bag and cinnamon stick.
Stir the milk, sugar (or honey), vanilla, ginger and cardamom into the tea. Cook and stir over medium heat just until mixture is heated through (do not boil). To serve, pour hot mixture into warm mugs.