Combine Ingredients: In a medium mixing bowl, whisk together heavy cream, whole milk, granulated sugar, vanilla extract, and cinnamon until the sugar is completely dissolved.
Churn the Ice Cream: Pour the chilled mixture into your ice cream maker and churn according to the manufacturer's instructions, typically 20-25 minutes, until it reaches a soft-serve consistency.
Freeze to Set: Transfer the churned ice cream to an airtight container. Cover and freeze for at least 2 additional hours, or until firm.
Serve and Enjoy: Scoop and serve as is, or pair it with your favorite desserts like apple pie, cookies, or brownies!