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Put the milk in a pan with the cinnamon stick and bring to the boil. In a bowl, whisk together the yolks, sugar and ground cinnamon. Discard the cinnamon stick, then strain the hot milk over the yolks, whisking continuously.
Pour the custard mix back into a pan and cook on a low-ish heat for 8-10 mins, stirring constantly until thickened. Whisk the custard into the cream, then cool, chill and freeze in an ice-cream maker.