In a medium saucepan over medium heat, combine heavy cream, whole milk, brown sugar, ground cinnamon, and a pinch of salt. Stir continuously until hot and sugar dissolves.

In a separate mixing bowl, whisk the egg yolks until smooth and pale.

Carefully pour about 1 cup of hot cream mixture into the bowl with egg yolks while continuously whisking.

Return the tempered egg mixture to the saucepan and cook over medium-low heat, stirring frequently for about 5 to 7 minutes, until thickened.

Remove from heat and strain the custard through a fine-mesh sieve into a clean bowl.

Stir in vanilla extract while cooling to room temperature, then cover and chill for at least 4 hours.

Pour the custard into an ice cream maker and churn according to manufacturer's instructions for 20-25 minutes.

Transfer churned ice cream to a freezer-safe container, smooth top, and freeze for at least 4 hours.

Scoop the ice cream into cones or bowls, optionally sprinkle with cinnamon before serving.