In a medium saucepan, add milk, 1 cup heavy cream, all spices, and vanilla. Warm over medium heat, whisking until the sugar is dissolved and the milk is warm to the touch. Cover and let steep for 30 minutes.
Place the egg yolks in a medium bowl and pour the warm milk mixture over top, whisking constantly. Pour the mixture back into the saucepan and warm over medium heat, stirring constantly with a spatula.
Once the mixture is thick enough to coat the spatula, pour into a blender. Add the additional heavy cream and blend until smooth.
Chill until cooled, at least 1 hour, up to overnight.
Pour the mixture into your ice cream maker and churn according to the manufacturer’s directions. Put the ice cream into a freezer safe container and freeze until solid.