If you're using the vanilla bean, split it and scrape the inside. Put the vanilla bean and scrapings (or extract) in a saucepan, with milk and 1/2 cup of sugar.
Cover saucepan and bring to a simmer, then remove from the heat. Let stand 5 minutes. Remove the vanilla bean. Beat 6 egg yolks and 1/2 cup sugar until pale and able to form a ribbon. Slowly beat the hot milk mixture into the egg mixture.
Place the mixture over low to medium heat and stirring constantly, bring to 183 to 187 degrees F, until thick and evenly and thickly coats the back of a spoon. Immediately remove from the heat and allow to cool to room temperature. Stir in the cinnamon.
Freeze ice cream in an ice cream maker according to manufacturer's instructions. Remove to a sealable container. Keep in the freezer.
A viewer or guest of the show, who may not be a professional cook, provided this recipe. It has not been tested for home use.