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In a medium saucepan, combine the milk and brown sugar.
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Cook over a medium heat about 5 minutes until bubbles form around the edges of the pan, stirring to dissolve sugar.
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In a small bowl beat the egg yolks and spices.
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Gradually whisk about 1/2 cup of the hot cream into the eggs and continue to whisk until smooth.
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Pour the egg mixture into the cream mixture into the pan.
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Cook and stir over medium heat until the mixture coats a metal spoon, 4-6 minutes.
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DO NOT BOIL.
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Stir in vanilla.
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Whisk the pumpkin into the egg mixture.
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Cover surface with plastic wrap to prevent a skin from forming and refrigerate until chilled, 3 hours or overnight.
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Pour the pumpkin custard into a 2 quart ice cream maker and freeze according to directions.
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Note: You can use canned pumpkin pie, just eliminate the spices.