In a saucepan, combine the milk, heavy cream, and sugar. Heat over medium heat until the sugar is completely dissolved, but do not boil.
Add the chai tea bags, cinnamon stick, ginger, cardamom, and nutmeg. Simmer over low heat for about 10 minutes to allow the flavors to infuse.
Remove the saucepan from the heat and let it steep for 5 minutes. Then, remove the tea bags and cinnamon stick.
Strain the mixture through a fine-mesh sieve to remove any spice particles.
Stir in the vanilla extract until well combined.
Let the mixture cool completely to room temperature, then refrigerate for at least 2 hours, or until thoroughly chilled.
Pour the chilled ice cream base into an ice cream maker and churn according to the manufacturer's instructions. If you don't have an ice cream maker, pour the mixture into a freezer-safe container and stir it with a fork every hour to prevent ice crystals from forming.
Freeze the ice cream for at least 4 hours, or until firm.
Before serving, let the ice cream stand at room temperature for a few minutes to soften slightly. Garnish with a sprinkle of ground cinnamon or grated chocolate, if desired.
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