Using a medium saucepan, heat the milk until it just begins to simmer.

Meanwhile, whisk together the sugar, brown sugar, salt and egg yolks in a medium bowl. Gradually pour half of the hot milk into the egg yolk mixture, whisking vigorously the entire time.

Transfer the egg yolk mixture into the saucepan with the remaining milk. Cook over low heat, stirring constantly, until the mixture thickens and coats the back of a wooden spoon (4-6 minutes). (Tip: Do not allow the custard to boil.)

Remove mixture from the heat and stir in the heavy cream and vanilla extract. Pour the mixture through a fine-mesh strainer into a clean container.

Add the pumpkin, cinnamon, ginger, nutmeg and cloves. Whisk together until mixture is smooth.

Transfer mixture into a large bowl and cover with plastic wrap, pressing the plastic directly to the surface of the mixture. Refrigerate overnight.

Pour the ice cream mixture into an ice cream maker and freeze according to the manufacturer’s directions. (If you prefer a harder ice cream, just freeze the ice cream for several hours before serving.)

(optional) Garnish with cinnamon stick before serving.