Sprinkle gelatin over milk in a saucepan; let stand 5 minutes.
Meanwhile, place 3 raspberries in each of 8 (6-oz.) parfait glasses or jars. Mash together 3 Tbsp. sugar, 2 Tbsp. lemon juice, remaining raspberries, and, if desired, cardamom in a medium bowl. Spoon 1 Tbsp. mashed raspberry mixture into each parfait glass. Reserve remaining berry mixture.
Stir 1/3 cup sugar, vanilla, and salt into milk mixture in saucepan, and cook over low heat, stirring constantly, 3 minutes or until sugar dissolves and milk begins to steam. Remove from heat; stir in cream. Pour milk mixture over raspberries in parfait glasses (about 1/2 cup per glass). Chill 2 hours or until firm. Top parfaits with reserved mashed raspberry mixture just before serving.