To a small saucepan over medium-low heat, add the milk, turmeric, ginger, cardamom, and black pepper. Whisk together until smooth and frothy. Add the cinnamon stick. Bring the mixture to a simmer, stirring often. Remove the pan from the heat and allow the cinnamon to steep at least five minutes. Remove cinnamon stick. Stir in honey to sweeten to taste. Pour into mugs and serve hot. Optional: whisk before serving to froth the milk (or use a milk frother).