Use oil to lightly grease a cookie sheet. Place white sugar and water in a small heavy pot and stir to combine. Turn on heat to medium and cook mixture, swirling occasionally but not stirring, until bubbling stops and sugar turns medium amber. Quickly stir in almonds and pour mixture onto greased cookie sheet. Let cool. Turn cookie sheet over onto piece of waxed paper and rap bottom sharply to release praline. Break praline up into large chunks then blend briefly in food processor to form pebble-sized pieces. Set aside.
Combine milk and cinnamon sticks in a saucepan and bring to the simmer. Turn off heat and let infuse for 30 minutes. Whisk together brown sugar and egg yolks until thick and pale brown. Bring milk back to a simmer and pour about one cup over egg mixture in bowl, whisking constantly. Pour egg mixture into saucepan and cook gently over very low heat, stirring constantly with a wooden spoon, 10 minutes until well thickened. Stir in cream to stop the cooking and pour the mixture through a fine strainer into a clean bowl. Whisk in vanilla, ground cinnamon, and salt. Refrigerate mixture until cold.
Freeze in ice cream machine; while still soft, fold in the praline pebbles. Scrape into container, cover, and freeze until solid.
c.1997, M.S. Milliken & S. Feniger, all rights reserved