In a medium bowl, use a hand mixer or a whisk to combine the milk and the sugar until the sugar is dissolved, about 1-2 minutes
Stir in the heavy cream, vanilla, cinnamon and food color. Taste between additions of cinnamon.
Pour into the frozen bowl of the ice cream maker and churn for 20-25 minutes or until cream has set up. (it will be more like soft-serve consistency right from the churn, but will set hard in the freezer)
Place ice cream in airtight container and keep in the freezer until ready to serve.