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Pumpkin-Gingerbread Ice Cream Sandwiches

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1 cup whole milk

1/2 cup heavy cream

1/2 cup Milk Caramel Milk Caramel

1 cinnamon stick

6 large egg yolks

1/4 cup sugar

1/2 cup canned solid-packed pumpkin

1/2 teaspoon pure vanilla extract

Chewy Gingerbread Cookies

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