2 large (6-7 inch) cinnamon sticks, or 3-4 shorter ones
2 tsp vanilla bean paste or vanilla extract
1 can cinnamon rolls - prepared, iced, and cooled (8 rolls), divided.
In a heavy-bottomed saucepan over medium heat, add the cream and milk and heat until steaming and a slight "skin" begins to form on the top. Don't allow to boil.
Remove from heat, add the cinnamon sticks, and cover with a lid. Allow to steep for 45 minutes.
Near the end of that time, whisk the egg yolks with the sugar in a bowl. Remove the cinnamon sticks and place the saucepan over medium heat.
Once cream has heated a bit, temper the eggs by adding 1/3 cup of the hot cream mixture into the eggs and sugar, stirring constantly, and then stir the eggs into the heated cream, whisking until fully combined.
Heat, stirring frequently, until thickened and mixture coats the back of the spoon (using a candy thermometer, the mixture should reach 170F)
Remove from heat and stir in vanilla extract. Pour mixture through a fine mesh strainer into a large bowl, and allow to cool on the counter for about 15 minutes. Cover with plastic wrap, allowing the plastic to make contact with the top of the custard to prevent a skin from forming.
Chill custard in refrigerator for at least 4 hours or overnight.
Chop prepared cinnamon rolls into small pieces. Follow the instructions on your ice cream maker for starting a batch of ice cream. About 5-10 minutes into the churning process, slowly drop about half of the cinnamon roll pieces into the ice cream.
Transfer ice cream into a freezer-safe container and freeze until hardened. Serve topped with the extra pieces of cinnamon roll.