Make ice milk: In saucepan, dissolve sugar in juice; boil. Add milk and zest. Place in 9 inch cake pan; freeze 2 hours or until firm. Break up into 1 inch pieces; process until smooth in food processor. Serve soft-frozen or freeze until firm.
Make sauce: In saucepan, combine milk, cinnamon stick, and vanilla bean. Heat until small bubbles form around edge of milk. Remove from heat. Cover; steep 30 minutes. Remove cinnamon stick and vanilla bean. Split beat, scrape seeds into milk. In bowl, mix egg with sugar; add milk. Mix well.
Pour into cleaned saucepan. Cook, stirring, 5 minutes, until thick (do not boil). Sieve; chill. Serve with ice milk.
By Robin from Washington, IA
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