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1
Place figs, orange juice, 1 tablespoon brown sugar and cinnamon in a small pan and cook over low heat until the figs have softened, 10 to 15 minutes, depending on thickness of the skin.
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2
Mash until the mixture is almost pureed but still has some texture.
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3
Set aside until it reaches room temperature.
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4
Cover and refrigerate.
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5
In the meantime, place milk, cream and 1/4 cup of the brown sugar in a small pan and cook over low heat, whisking from time to time, until it is warm, about 175 degrees.
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6
Place egg yolks, 1/4 cup of the brown sugar, vanilla and salt in a small metal bowl and whisk until completely mixed.
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7
Add 1/4 of the warm milk mixture to the eggs, whisking all the while.
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8
Continue adding milk to the eggs, 1/4 cup at a time, until you have added about 1 1/2 cups.
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9
Slowly, whisking all the while, return the now milk-and-egg mixture to the remaining milk mixture in the pan and continue cooking until it just begins to thicken or reaches about 185 degrees.
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10
Do not allow the mixture to boil.
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11
Pour through a medium fine strainer into a metal bowl, discard the solids and set aside until it reaches room temperature.
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12
Add the cooled fig mixture.
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13
Cover and refrigerate until it reaches 40 degrees, about 3 hours.
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14
Transfer to an ice cream maker and proceed according to the manufacturer's instructions.
