Mix together milk and brown sugar using a hand mixer until sugar is dissolved.
Next stir in pumpkin puree, vanilla, cinnamon, ginger and nutmeg.
Last stir in heavy cream. Use hand mixer again to mix all ingredients together (about 5-10 seconds).
Turn ice cream machine on and pour mixture in the freezer bowl.
Let mix in Ice Cream maker for approximately 20-25 minutes. Or until thicken. I am using a Cuisinart 21 Ice Cream Maker which makes 1 1/2 quarts.
Once ice cream is finished put freezer bowl back into the freezer so the ice cream can harden.
If you like softer ice cream then serve immediately.
Sprinkle top with cinnamon and enjoy!