In a small saucepan, combine milk, vanilla, sugar, cardamom, and cinnamon. Heat over medium heat, stirring frequently, until sugar is dissolved and milk is hot, but do not boil.
Meanwhile, add Folgers Coffeehouse Blend coffee to a French press and pour over about 2 cups of near-boiling water. I heat water in my tea kettle for this. Stir, and steep for 6 minutes before pushing down the plunger.
Pour about 3/4 cup coffee each into two mugs.
Using a handheld milk frother, froth the milk mixture until there is a thick layer of foam on top. Give your saucepan a couple of firm whacks on a hard surface like your counter to break any of the larger bubbles and make a denser foam.
Using a wooden spoon to hold back the foam, divide the milk between the two mugs. Spoon the foam on top. Add a small dash of cardamom on top for garnish, if desired.