This paper addresses the modeling and digital cancellation of self-interference in in-band full-duplex (FD) transceivers with multiple transmit and receive antennas. The self-interference modeling and the proposed nonlinear spatio-temporal digital canceller structure takes into account, by design, the effects of I/Q modulator imbalances and power amplifier (PA) nonlinearities with memory, in addition to the multipath self-interference propagation channels and the analog RF cancellation stage. The proposed solution is the first cancellation technique in the literature which can handle such a self-interference scenario. It is shown by comprehensive simulations with realistic RF component parameters and with two different PA models to clearly outperform the current state-of-the-art digital self-interference cancellers, and to clearly extend the usable transmit power range.