Combine pumpkin, milk, cream, spice, salt and vanilla in a medium pot. Bring to a boil over medium heat, stirring regularly, then remove from heat.
Whisk together the egg yolks, sugar, and brown sugar in a medium bowl
Whisking constantly, slowly pour half the pumpkin mixture into the egg yolk mixture, then return the combined mixture to the rest of the pumpkin in the pot.
Heat the mixture over medium heat, stirring regularly until it it reachs 170℉ and starts to thicken. Remove from heat
Transfer mixture to a bowl, and cover with cling wrap touching the surface of the liquid. Refrigerate for 2 hours.
Churn the mixture with your ice-cream maker as per it's instructions. In the final minute, drizzle in half of the caramel. You want ribbons without over mixing it.
Transfer to a container and freeze overnight. Serve with the remaining caramel