In large saucepan, combine 3 cups (750 mL) water, cinnamon stick, ginger, cloves, cardamom pods and peppercorns. Bring to a boil, then reduce heat to low and simmer, covered, 20 min.
Turn off heat. Add tea bags to saucepan. Cover and steep 15 min., or until desired strength.
Over large bowl, strain tea through fine mesh strainer (or strainer lined with basket-style coffee filter). Return tea to saucepan. Over medium heat, stir in milk and sugar until dissolved and tea is warmed through, about 4 min.