Zest the orange, then juice it and set aside.
In a medium saucepan, combine the milk, heavy cream, sugar, honey, and cinnamon. Heat over low heat, stirring until the sugar is completely dissolved.
Add the orange zest and let it steep for a few minutes to infuse the flavors.
In a separate bowl, whisk the egg yolks, then gradually whisk in a small amount of the hot milk mixture to temper the eggs.
Pour the tempered egg mixture back into the saucepan, and cook over low heat, stirring constantly, until the mixture thickens slightly (about 5 minutes).
Remove from the heat, stir in the vanilla extract and orange juice, then let it cool completely.
Pour the ice cream base into an ice cream maker and churn according to the manufacturer's instructions until creamy.
If you don't have an ice cream maker, pour the mixture into a shallow container and place it in the freezer. Stir it every 30 minutes to prevent ice crystals from forming.
Once the ice cream is completely frozen (after about 4-5 hours of freezing), serve with fresh orange slices and a sprinkle of ground cinnamon.
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