Whisk egg yolks and sugar in a medium bowl until pale in colour then set aside.
Add cream and milk to a saucepan and stir on a medium-high heat until it begins to simmer. Remove from heat.
Slowly pour a cup of the milk into the yolks while whisking as quickly as possible. Then pour yolks back into the saucepan of milk.
Continue heating mixture on a medium heat until it thickens and coats the back of a spoon - then remove from heat.
Add milk mixture to a blender along with pumpkin, brown sugar, vanilla, and cinnamon and blend for 1 minute.
Strain ice cream base into an airtight container and cool in the fridge for 2-3 hours until completely cooled.
Churn in an ice cream maker as per manufacturer's instructions then pour into a container and freeze for at least 3 hours until hardened.
