Combine milk, cinnamon stick, orange peel and cloves in a small saucepan over medium heat and bring to a boil. Reduce heat to low, cover, and simmer 5 minutes to blend flavors. Set aside to cool to room temperature; strain.
Combine milk mixture, vanilla, condensed milk and TABASCO® Sauce in a large bowl and mix well; gently fold in whipped cream. Cover and freeze until firm, stirring once.
To serve, scoop ice cream into glasses or dessert dishes. Garnish with cinnamon sticks and orange peel twists, if desired.
Makes 6 servings.
Nutritional information per serving: 427 calories, 7 g protein, 28 g fat, 121 mg sodium, 105 mg cholesterol.