Steps:
- Combine the milk, sugar, cinnamon, and salt in a saucepan and cook over medium heat, stirring, until the mixture comes to a boil and the sugar has dissolved.
- Meanwhile, whisk the egg yolks in a bowl large enough to accommodate the milk mixture. Once the milk mixture begins to boil, slowly pour the warm liquid into the yolks while whisking continuously. Pour the mixture back into the pot and cook over medium-low heat, stirring continuously, until the mixture thickens and coats the back of a spoon.
- Strain through a fine-mesh sieve. Add the cream and stir until well incorporated. Stir in the liquor and vanilla. Let cool over an ice bath, stirring occasionally, then refrigerate for a few hours.
- If using conventional molds, divide the mixture among the molds, snap on the lid, and freeze until solid, about 5 hours. If using glasses or other unconventional molds, freeze until the pops are beginning to set (1 1/2 to 2 hours), then insert the sticks and freeze until solid, 4 to 5 hours. If using an instant ice pop maker, follow the manufacturer's instructions.
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