Reconfigurable intelligent surfaces (RISs) have been proposed recently as new technology to tune the wireless propagation channels in real-time. However, most of the current works assume single-RIS (S-RIS)-aided systems, which can be limited in some application scenarios where a transmitter might need a multi-RIS-aided channel to communicate with a receiver. In this paper, we consider a double-RIS (D-RIS)-aided MIMO system and propose an alternating least-squared-based channel estimation method by exploiting the Tucker2 tensor structure of the received signals. Using the proposed method, the cascaded MIMO channel parts can be estimated separately, up to trivial scaling factors. Compared with the S-RIS systems, we show that if the RIS elements of a S-RIS system are distributed carefully between the two RISs in a D-RIS system, the training overhead can be reduced and the estimation accuracy can also be increased. Therefore, D-RIS systems can be seen as an appealing approach to further increase the coverage, capacity, and efficiency of future wireless networks compared to S-RIS systems.