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Dulce de Leche Ice Cream

1-10oz can of sweetened condensed milk
1-cup whipping cream (35%)
1-cup milk
1-cinnamon stick (optional)
2-tsp vanilla

In a medium saucepan over medium heat, cook condensed milk, stirring constantly until thick and golden brown, about 15 minutes
Remove from heat
Meanwhile, in a separate medium saucepan over medium-low heat, bring cream, milk and cinnamon stick to a simmer
Remove cinnamon stick
Slowly pour condensed milk into a clean large bowl
Slowly and carefully whisk in cream mixture
Whisk in vanilla
Cover and refrigerate until cold or overnight
Stir cream mixture and transfer to ice cream maker
Freeze according to maker's instructions