Whisk the whole milk, heavy cream, buttermilk, pumpkin purée, dark brown sugar, granulated sugar, and pumpkin pie spice in a medium saucepan. Heat over low heat, stirring occasionally, until small bubbles appear along the sides of the pan. Do not boil.
1½ cups (360 ml) whole milk, 1½ cups (360 ml) heavy cream, ½ cup (120 ml) buttermilk, 1 can (15 oz / 425 g) pumpkin purée, ½ cup (100 g) dark brown sugar, ½ cup (100 g) granulated sugar, 1½ tsps (3 g) pumpkin pie spice
Whisk the egg yolks in a separate bowl. Slowly whisk in ¼ cup (60 ml) of the warm pumpkin mixture, followed by another ¼ cup (60 ml). Pour the tempered yolks into the saucepan. Cook over low heat, stirring constantly and scraping the bottom of the pan, until the custard coats the back of a spoon and reaches 175–180°F (79–82°C).
5 large egg yolks
Strain the custard through a fine-mesh strainer into a heatproof bowl. Cool the bowl in an ice bath, then cover and refrigerate for at least 8 hours or overnight, until thoroughly chilled.
Preheat the oven to 350°F (175°C). Mix the dark brown sugar, flour, and cinnamon in a bowl. Cut in the cold butter until crumbly, then stir in the chopped pecans. Press into a greased 8 × 8-inch (20 × 20 cm) or 9 × 9-inch (23 × 23 cm) baking dish. Bake for 12–15 minutes, until golden. Cool completely and break into pieces, leaving some larger pieces together.
⅓ cup (65 g) packed dark brown sugar, ¼ cup (30 g) all-purpose flour, ½ tsp (1.5 g) ground cinnamon, 3 tbsps (42 g) cold unsalted butter, ½ cup (60 g) chopped pecans
Pour the chilled custard into an ice cream maker and churn according to the manufacturer's instructions. Add the cooled pecan streusel toward the end of churning, when the ice cream has reached a soft-serve consistency. Churn until the streusel is distributed throughout.
Transfer the ice cream to a freezer-safe container, cover tightly, and freeze for at least 6 hours or overnight, until firm enough to scoop. Sprinkle with turbinado sugar before serving, if desired.