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Boil the milk together with the cinnamon stick. In a bowl, mix the yolks, sugar and ground cinnamon. Remove the cinnamon stick from the milk, then slowly pour the milk over the yolks, stirring constantly.
Pour the obtained composition back into the pan and cook over low heat, approx. 8-10 minutes, stirring constantly, until it thickens. Add the whipped cream to the composition and mix. Put the cream obtained in a plastic bowl, let it cool, then put it in the freezer. After approx. 1h 30 minutes remove the ice cream and mix in it then put it back in the freezer. Repeat this operation 2 more times.