Mix all your pumpkin pie filling ingredients together. Put in a medium saucepan on stove. Cook on stove at medium-high for a few minutes until it thickens, stirring constantly. Remove pot from stovetop, let cool.
In a large bowl, pour in sweetened condensed milk. Whisk in heavy cream.
Slowly whisk in cooled pumpkin pie filling into milk ingredients. Whisk together to combine.
Chill pumpkin pie ice cream mixture until well-chilled, 1 hour in freezer or 3-4 hours in refrigerator!
Pour into ice cream maker and watch some pumpkin power churn up before your eyes, 25-30 minutes or until desired ice creaminess.
Scoop out and enjoy with a side of ginger snaps, or scoop between two crisp ginger snaps for a very delightful ice cream sandwich!