Step 1 In a medium saucepan, combine the milk and sugar. Cook over medium heat, stirring until the sugar is dissolved, about 5 minutes.
Step 2 Remove from heat and stir in the vanilla paste, vanilla extract and one-half teaspoon cinnamon. Allow the mixture to cool, then cover and refrigerate for several hours or overnight.
Step 3Transfer the mixture to an ice cream maker or gelato machine and process according to the manufacturer's instructions. Place in a container and freeze. Makes 1 quart.