1 cup sugar
2 cups whole milk
6 egg yolks
1 teaspoon vanilla
4 cups heavy cream
1 tablespoon cinnamon

whisk together the sugar, milk and egg yolks and cook in a double boiler over simmering water until the mixture thickens, about 10 minutes, stirring frequently.

remove from heat and add vanilla, cream and cinnamon.

refrigerate until cool. freeze in an ice cream machine according to manufacturers directions, then freeze until firm in the freezer.