In a large bowl, whisk together pumpkin purée, vanilla extract, ground cinnamon, ground nutmeg, ground ginger, and ground cloves.
Heat the milk and granulated sugar in a medium saucepan over a low flame until warm and the sugar is dissolved. Gradually mix this into the pumpkin mixture.
Stir in the cold heavy cream.
Cover the mixture and chill in the refrigerator for at least 2 hours, until thoroughly cold. Taste and adjust spices as needed to reach your desired flavor.
Pour the chilled mixture into your ice cream maker and churn according to the manufacturer's instructions, typically about 20-25 minutes.
Transfer the churned ice cream into a container and freeze until firm, about 2 hours.