Whisk the egg yolks together in a medium bowl and set aside. Combine the milk, cream, sugar, spices and salt in a medium saucepan set over medium heat. Cook until the edges begin to bubble.

Slowly pour the warm liquid over the egg yolks, whisking constantly, then pour the egg yolk mixture back into the saucepan. Continue cooking over medium heat, stirring constantly and scraping the bottom, until the mixture is thick enough to coat the back of a spoon (between 160º and 170ºF on an instant read thermometer).

Set a mesh strainer over a large bowl. Pour the mixture through the strainer and then whisk in brown sugar until dissolved. Place bowl in an ice bath and stir until cool, then chill completely in the refrigerator, preferably overnight.

Once chilled, whisk in the vanilla and pumpkin. Press through the strainer once more and then freeze in an ice cream maker according to manufacturer’s instructions. Freeze for at least an hour before serving.