In a large saucepan, add in the egg yolks. Whisk. Set aside.
In a separate small saucepan, add in the heavy cream and milk. Heat over medium and stir often to avoid scorching the cream until the milk begins steaming. It will take about 5 minutes.
Remove from the heat and add the cream in with the egg yolks in a slow, constant stream. Whisking continuously so the yolks don't cook.
Add salt, cloves, cinnamon, allspice, nutmeg, cayenne pepper, and brown sugar to the cream and yolk mixture. Place over medium heat and heat until the sugar is dissolved. Stirring constantly to help dissolve the sugar and avoid burning.
Once the sugar is dissolved, add in the vanilla and maple syrup. Stir to combine.
Add in the pumpkin puree and whisking constantly until the mixture thickens. It will take about 10 minutes. Avoid boiling the mixture.
Place the hot pan into an ice bath to stop the cooking. Stir the mixture and leave it until the mixture stops steaming.
Once cooled, place the pumpkin mixture into a shallow bowl, cover with plastic wrap and refrigerate 6 hours to overnight.
Place the pumpkin mixture into your ice cream maker. Churn it for the recommended time for your ice cream maker. It will be in the manufacturer's instructions.
Once it's churned and froze, place it in the freezer-safe dish. Freeze for at least 2 hours or until frozen. Scoop and serve.
Notes
This recipe is from Big Gay Ice Cream If I made this again, I would add an additional ¼ cup of brown sugar.