Whisk together your egg yolks and sugar until light yellow. Slowly whisk in the milk and heavy cream until well-combined. Add in the vanilla and salt.

In a medium-sized sauce pan, heat the mixture over medium-low heat until thick enough to coat the back of the spoon. You should be able to run your finger through the mixture and leave a clear line.

Let the base come to room temperature. Cover the mixture and chill until cold. Usually around 3 hours.

To make the sauce, whisk together the rum, brown sugar and cinnamon in a small bowl. Set aside.

Slice the pineapple into 6-8 slices and lay flat in a shallow baking dish. Pour the sauce mixture over the pineapples and let soak for 15 minutes flipped once halfway through.

Once pineapples are soaked, pour the excess sauce into a small saucepan. Heat over medium-high heat until bubbling.

Simmer for one minute and then reduce heat to medium. Continue to heat the mixture until thick and reduced to about half. Let cool.

Heat a large skillet or grill pan over medium-high heat. Once heated, place the pineapple slices in the pan and cook each side for ~3 minutes each until they're golden brown. Once cooked, place the pineapples in a covered dish and refrigerate until cooled.

Freeze the ice cream base in your machine according to manufacturer's instructions.

Before you remove it from the machine, chop 5 or 6 of the pineapple slices into small pieces to fold into ice cream. Add in 1/2 cup of the remaining sauce and let churn for ~30 seconds or until sauce is ribboned throughout the ice cream.

Pour the mixture into a container and freeze for ~1 hour or until hardened through. Use the additional slices for decoration or add it into the ice cream if you really LOVE pineapple!