1. In a bowl whisk egg yolks with sugar until thickened and pale yellow. Set aside.
2. In a medium saucepan over medium heat, bring milk and half-and-half to a simmer. Add oats, salt and cinnamon. Cook, stirring constantly, for 10 minutes or until thick and creamy. Gradually whisk into the egg mixture.
3. Let cool for 15 minutes. Stir in whipping cream and maple syrup. Cover and refrigerate until completely cold or overnight.
4. Stir cream mixture. Transfer to an ice cream maker and freeze according to manufacturer's instructions.