Pour the milk into a small saucepan and whisk in the turmeric, ginger, cinnamon, black pepper and cardamom.
Warm over medium-low heat, whisking often, until steaming and small bubbles form around the edge, about 5 minutes. Do not let it boil hard.
Reduce the heat to low and simmer gently for 3–5 minutes to infuse the spices.
Remove from the heat and stir in the honey and vanilla. Taste and adjust the sweetness.
Strain through a fine sieve into mugs if you used fresh spices or a cinnamon stick.
For a frothy top, whisk vigorously or use a milk frother before serving.