The sweet and comforting flavors of breakfast are great to play around with, especially in a summertime favorite like ice cream. In this recipe, decadent cinnamon rolls are steeped in cream and then mixed with cinnamon-flavored ice cream for the truest of flavors.
In a heavy saucepan, combine the first 5 ingredients. Steep 1 ½ cinnamon rolls in the liquids in pot for 20 minutes, blend with a kitchen blender, and then strain.
Cook the mixture over medium-low heat, stirring constantly, until the mixture is thick enough to coat a metal spoon and reaches at least 160 degrees. Remove from the heat; cool quickly by setting pan in ice and stirring the mixture. Cover and refrigerate overnight or freeze immediately. When ready to freeze, pour custard and vanilla into the cylinder of an ice cream freezer. Freeze according to the manufacturer's directions.
Before serving, chop the remaining cinnamon rolls in ¼ inch pieces and fold into ice cream.