In a medium saucepan, combine heavy cream, whole milk, brown sugar, ground cinnamon, and a pinch of salt. Heat over medium heat, stirring until hot and sugar dissolves (5-7 minutes).

In a medium bowl, whisk egg yolks until smooth and creamy (about 2 minutes). Set aside.

Gradually add 1 cup of hot cream mixture to whisked yolks, stirring constantly to temper.

Return the yolk mixture to the saucepan and cook over medium-low heat, stirring constantly until thickened (8-10 minutes).

Strain the custard through a fine-mesh sieve into a clean bowl to ensure smoothness and let it chill for 5 minutes.

Stir in the vanilla extract and cool at room temperature for 30 minutes. Refrigerate for at least 4 hours.

Churn the chilled mixture in an ice cream maker according to instructions (20-25 minutes).

Transfer churned ice cream to a container, cover tightly, and freeze for at least 4 hours to firm.

Serve in cones or bowls and enjoy with additional cinnamon or caramel sauce if desired.