1. Combine pumpkin, vanilla, cinnamon, nutmeg, allspice, cloves, and salt in a large bowl, mix well, and set aside.
2. Combine the sweetened condensed and whole milk in a heavy-bottomed saucepan.
3. Set the saucepan on a medium heat and cook, stirring frequently, until hot but not boiling.
4. Whisk the egg yolks together in a spacious, heat-tolerant bowl. Temper the yolks by slowly adding one cup of the hot cream mixture while whisking vigorously.
5. Reduce the heat to medium-low and whisk the tempered yolks into the saucepan, creating custard. Stir constantly until the custard thickens slightly and coats the back of a wooden spoon.
NOTE: Stir carefully and do not let the custard boil, or the yolks will curdle.
6. Immediately remove the custard from the heat.
7. Pour the custard over the pumpkin mixture and stir to combine.
8. Strain the pumpkin custard into a large mixing bowl.
9. Allow the custard to cool to room temperature (approximately one hour).
10.Refrigerate the mixture for 4–6 hours, or overnight.
11. Place the cold custard in the canister of your ice cream maker and process according to the manufacturer’s instructions.
12. Transfer the ice cream to a container, cover, and freeze for at least 4–6 hours to firm up.
NOTE: For best flavor, always remove ice cream from the freezer 20 minutes before serving, or place it in the microwave for 15–20 seconds.