In a medium, heavy-duty pot, warm milk, cream, granulated sugar and cinnamon stick, until scalding. Remove from heat, cover, and let infuse for at least 1 hour.
Place cream mixture back on stovetop, heating until scalding again. Meanwhile, in a large bowl, whisk egg yolks and brown sugar together. Slowly, stream entire hot cream mixture into egg yolk mixture, whisking constantly to avoid curdling. Return entire mixture to pot, and cook over low heat until mixture reaches a temperature of 170°F, and is thick enough to coat the back of a spoon.
Strain into a heatproof bowl, discarding cinnamon stick. Cool to room temperature, and stir in spices and brandy. Process according to ice cream maker manufacturer's instructions.