In a saucepan, bring the milk, cinnamon and maple syrup to a boil. Immediately remove from the heat as soon as it starts boiling.
In a bowl, beat the egg yolks with the sugar using a hand mixer until the color is a pale yellow for about 3 to 5 minutes. Add a ladel-full of the milk mixture to the eggs to prevent the eggs from curdling, whisk constantly. Add another ladel-full of the milk mixture. Bring all the liquid back to the saucepan.
Using another bigger saucepan filled with simmering water, create a double boiler for the egg mixture. Heat the custard at a low temperature. Keep stirring with a wooden spoon until liquid thickens. The liquid should be able to coat the back of a spoon. Remove from the heat and immediately add the cream. Transfer to a bowl, add the vanilla extract. Strain the custard through a fine-mesh sieve into a big pitcher. Let it cool down.
Add powdered sugar if not sweet enough. Remember, the ice cream custard should be slightly sweeter to your taste because it will taste less sweet when it's frozen.
Transfer to the refrigerator for at least 3 hours when it reaches room temperature . Your custard should be as cold as possible before you put it in the machine.
Pour into your ice cream maker canister. Fill up two-thirds of it as the ice cream will expand and let the machine do its magic. The consistency will be firm but still soft-serve; transfer the ice cream into an airtight container in the freezer to harden for at least 2 hours.
Remove from the freezer at least 5 to 10 minutes prior to serving for a softer product. Scoop the ice cream into a bowl, drizzle with the caramel au beurre salé and garnish with mint leaves.
The sprig of mint in the picture above is one of the first sprouts this season in my husband's herb garden. The herbs start growing back and the flowers bloom again in mid-January - you gotta love California!
The custard can be made the day before and rest in the refrigerator overnight.
I prefer using superfine sugar. It's is a fine-grained sugar and it dissolves much quicker than the regular one.
For the double boiler, I like to add a little kitchen towel underneath the egg-mixture filled saucepan. The saucepan won't jiggle and there won't be any splatter of water in the custard.