Churro Caramel Pecan Ice Cream Sandwiches

The Steps

1. In a large sauce pan over medium heat, combine 2 cups milk with the salt and sugar. Stir constantly until the mixture comes to a very gentle simmer. Remove from heat.
2. Place the yolks in a large bowl and the cream in another large bowl. Place a mesh strainer over the bowl with the cream and set aside.
3. Pour about 1/3 of the warm milk mixture into the eggs, whisking constantly to prevent the eggs from cooking. Whisk the egg mixture back into the pot with the remaining milk mixture.
4. Stir constantly with a wooden spoon over medium heat until mixture thickens and begins to coat the spoon.
5. Remove from heat and pour through the mesh strainer into the cream. Whisk to combine.
6. Fill a large bowl with ice and place the bowl with the cream mixture on top. Whisk continuously until mixture cools.
7. Refrigerate until cool, then pour into an ice cream maker. Follow manufacturer instructions to churn the ice cream.
8. Once the ice cream is the consistency of soft serve, transfer to a container and add the pecans and the caramel sauce, stir slightly to swirl the sauce. Freeze for at least 2 hours to set.
9. To make the churros, combine the water, butter and salt in a sauce pan over high heat. Bring the mixture to a boil.
10. Use a wooden spoon to stir in the flour. Reduce the heat to low and continue stirring until dough forms into a ball.
11. Remove the pan from the heat and add the eggs one at a time, stirring constantly to combine.
12. Transfer the dough to a large pastry bag fitted with a star tip. Pipe the dough into 12 inch strips on a sheet of parchment paper. Roll each strip inward to create tight circles.
13. Pour the canola oil into a large Dutch oven and heat until a candy thermometer inserted in the pot reads 360 degrees. Once the oil is hot, carefully drop one circle of dough in. Cook until golden brown, about 3 minutes. Transfer the cooked dough to a paper towel lined baking sheet and repeat with remaining dough.
14. Combine the sugar and cinnamon in a large bowl. Roll each cooked churro in the mixture until coated.
15. Place one churro on a plate, then top with a scoop of ice cream. Place another churro on top to create a sandwich. Serve immediately.