In a medium saucepan, whisk together the milk and heavy whipping cream until well blended. Add the cinnamon, stirring to incorporate.

Place the saucepan over low heat, warming gently for about 5–7 minutes without boiling.

Carefully stir in the salt and honey, then increase heat to medium, stirring until honey dissolves completely.

Heat until it begins to bubble gently for an additional 3–5 minutes, avoiding full boil.

Remove from heat and transfer the mixture to a mixing bowl. Place the bowl in an ice bath or refrigerate for 8 hours until chilled.

Pour the chilled mixture into your ice cream machine and churn for 20–25 minutes until soft-serve consistency.

Transfer to an airtight container and freeze for at least 2 hours for firmer consistency.

Scoop into bowls and enjoy, garnished with cinnamon or honey if desired.