Warm the milk, sugar, salt, cinnamon sticks and 1 cup of the cream on a medium saucepan. Once warm, cover and remove from heat, and let steep at room temperature for 1 hour.
Rewarm the cinnamon infused milk mixture. Remove the cinnamon sticks with a slotted spoon and discard them. Pour the remaining 1 cup cream into a large bowl and set a mesh strainer on top. In a separate medium bowl, whisk together the egg yolks. Slowly pour the warm mixture into the egg yolks, whisking constantly, then scrape the warmed egg yolks back into the saucepan, and add 1/4 tsp ground cinnamon. Stir the mixture constantly over medium heat with a heatproof spatula, scraping the bottom as your stir, until the mixture thickens and coats the spatula. Pour the custard through the strainer and into the cream. Stir until cool over an ice bath.
Chill the mixture thoroughly in the refrigerator, then freeze it in your ice cream maker according to the manufacturer’s instructions.
Recipe adapted from David Lebovitz’s Perfect Scoop