In a medium saucepan, heat the milk and heavy cream over medium heat until it almost reaches a simmer. Do not let it boil!
Meanwhile, in a separate bowl, whisk the egg yolks and sugar together until light and creamy.
Gradually whisk a small amount of the warm milk mixture into the egg yolk mixture to temper the eggs and prevent them from curdling.
Pour the entire mixture back into the saucepan and cook over low heat, stirring constantly, until it thickens slightly. It should coat the back of a wooden spoon.
Remove from the heat and stir in the pumpkin puree, cinnamon, ginger, nutmeg, vanilla extract, and a pinch of salt. Let it cool completely.
Pour the mixture into an ice cream maker and churn according to the manufacturer's instructions.
When the ice cream is almost finished churning, add the crushed graham crackers or pie crust pieces to mimic the flavors of pumpkin pie.
Transfer the finished ice cream to a freezer-safe container and freeze for at least 3 hours, or until it reaches the desired consistency.
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