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In a medium bowl, beat egg yolks until combined; set aside.
In a medium saucepan, combine milk, sugar, dry milk powder, cinnamon, nutmeg and cloves. Heat and stir over medium heat until sugar dissolves. Slowly whisk 1/2 cup of the milk mixture into the egg yolks.
Return the milk-egg yolk mixture to saucepan. Cook and stir until the mixture coats the back of a spoon and registers 165ºF when tested with an instant-read thermometer. Remove from heat; stir in cream, pineapple and vanilla.
Transfer mixture to a large bowl; cover and chill for at least 4 hours or up to 24 hours.
In a 1- to 2-quart ice-cream freezer, freeze chilled mixture according to manufacturer’s directions. Transfer to a freezer container. Cover and ripen in the freezer for about 4 hours or until firm.