Stir all ingredients except maple syrup and vanilla until fully blended.
Heat in a saucepan on the stove on medium heat until it reaches a boil. Stir occasionally to keep from burning. Stir in maple syrup and continue stirring until fully combined.
Let cool to room temperature. You can place in the refrigerator or freezer to cool the mixture faster but do not allow it to freeze.
Add vanilla and stir to mix evenly.
Pour into ice cream maker.
Once the ice cream is finished being made, remove from the ice cream maker and put it in a freezer-safe container.
Add more pumpkin spice blend if you want a stronger flavor and add cocoa nibs (optional).
Sprinkle cocoa nibs on top for extra fun (optional).