Place the cinnamon stick with the milk in a pan and bring to the boil. Remove and set aside.
In a separate bowl whisk together the egg yolks, sugar and freshly ground cinnamon until well combined and the mixture resembles a runny cake batter. Discard the cinnamon stick and proceed to pour the warm milk mixture over the batter whisking continuously.
Place this egg custard into a saucepan, put it on a low heat over the stove stop and cook for between 5-10 mins-stirring constantly until thickened.
Whisk the custard into the cream ensuring it is well combined. Allow the custard to cool completely before churning in an ice cream machine.
Freeze the churned custard for a few hours and then serve the ice cream in your favourite manner.