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Stir together sugar and cinnamon in a large saucepan. Stir in milk, cream and egg yolks. Heat and stir over medium heat until mixture thickens slightly (about 180°F), about 20 minutes.
Remove from heat; stir in vanilla. Place saucepan in a very large bowl of ice water. Let stand until cool, stirring occasionally.
Cover surface of custard mixture with plastic wrap. Chill for 4 to 24 hours or until mixture is completely chilled.
Freeze custard mixture in a 4- to 5-quart ice cream freezer according to manufacturer's directions. Ripen according to manufacturer's directions, if desired.