In a medium saucepan, bring the milk, cream and cinnamon sticks to a boil. Remove from heat and cover. Leave 30 minutes to infuse, then strain. Meanwhile, whisk the egg yolks, sugar, ground cinnamon and salt until thick and the sugar dissolves.
Whisk in the strained milk and cream mixture. Pour into a clean saucepan and cook over a low heat, stirring until slightly thickened or the mixture reaches 176°F (82°C). Do not boil. Strain immediately into a bowl set over ice and stir until cool. Refrigerate until cold.
Churn in an ice-cream machine.
SATIN CINNAMON CHOCOLATE SAUCE
Combine chocolate, corn syrup, milk and cinnamon in a saucepan. Bring to a boil over medium heat for a minute, while stirring constantly. Remove from heat and stir in the butter.
Can be refrigerated for a week. Serve with ice cream.