In a saucepan, heat the milk, cream, cardamom, and half the sugar on medium heat until it comes to a simmer. Meanwhile, whisk together the yolks and rest of the sugar until well combined. Once the cream comes to a simmer, temper the hot liquid into the yolks while whisking. Return the mixture back to the saucepan over medium low heat. Stir continuously until the mixture thickens and coats the back of the spoon.

Strain the mixture into a bowl and cover directly with plastic wrap. Place it over an ice bath or refrigerate until cold.

Churn the mixture in an ice cream churner. Churn the gelato slightly less than you would ice cream. Place the gelato in a plastic container and freeze.