In a small pot, add the milk and heat it. Stir in the gingerbread syrup and maple syrup, then cover with plastic wrap to prevent a skin from forming. Set in the fridge for 30 minutes to chill. The milk can be heated in the microwave as well. However, the milk should not boil.
Once it’s cold, pour the gingerbread-infused milk into a large mixing bowl with sweetened condensed milk. Whisk until smooth.
In a separate bowl, pour the cold heavy cream, vanilla paste, and sea salt. Then use a hand mixer or stand mixer to whip to medium- stiff peaks.
Add the gingerbread milk mixture, slowly with the mixer on, and whip until combined. Don't overmix! Overmixing will adversely affect the texture. Pour into an airtight container with a cover and Freeze for about twelve hours. Leave ice cream on the counter for 15-20 minutes before serving. Serve with whipped cream and a dash of cinnamon if desired.