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1. In a large saucepan, stir together sugar and cinnamon. Stir in milk, cream, and egg yolks. Heat and stir over medium heat until mixture thickens slightly (about 180 degree F). This should take about 20 minutes.
2. Remove from heat. Stir in vanilla. Place saucepan in a very large bowl of ice water. Let stand until cool, stirring occasionally.
3. Cover surface of custard mixture with plastic wrap. Chill for 4 to 24 hours or until mixture is completely chilled.
4. Freeze custard mixture in a 4- to 5-quart ice cream freezer according to manufacturer's directions. Ripen according to manufacturer's directions, if desired. Makes about 1-1/4 quarts.