Dissolve yeast in warm water with sugar. While the yeast is activating, prep the cardamom by cracking the pods, removing the seeds, and grinding them until fine.
In a stand mixer, combine warm milk, sugar, activated yeast, eggs, melted butter, and ground cardamom. Switch to a dough hook and add flour a cup at a time until the dough pulls from the bowl, then add salt.
Knead the dough on a floured surface for 10 minutes. Then, place the dough in a buttered bowl, cover, and let rise for 1 hour or until doubled.
Punch down the dough and divide into 4 equal portions. Divide each portion into 3 pieces and roll into ropes the length of your loaf pan.
Grab 3 ropes and pinch the ends together, braid, and pinch the bottom ends.
Transfer the braids to buttered loaf pans and let rise for 1 hour.
Bake at 350°F, or 176°C, for 30 minutes or until golden. For the glaze heat milk and sugar until dissolved and brush over the warm loaves.