In a large bowl, mix the pumpkin puree with the cinnamon, ginger, nutmeg, and cloves.
Add the milk, heavy cream, sugar and vanilla to the bowl, and then beat using an electric mixer until the mixture becomes smooth, about two minutes.
Pour the mixture into an ice-cream maker and churn until the consistency of soft-serve ice cream.
Place in a covered freezer-safe container for at least two hours.
You don't need to an ice cream machine, but if you do use one, be sure to follow the manufacturer's instructions. If you don't use a machine, remember to use whipped cream to create a better texture. It'll take a little longer for your mixture to freeze properly, but it'll be fine. Just check on it every couple of hours and give it a good stir.
If you use an ice-cream maker, never pour your warm (or even room-temperature) base into your ice cream machine. A base that isn't chilled prior to going into your ice-cream maker won't freeze. The colder, the better!
I thought the perfect garnish for this delectable ice cream was salted caramel sauce and toasted pecans!
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