Sweet Potato Ice Cream

Ingredients

• 2 small sweet potatoes (12 ounces total)
• 2 cups 1% milk
• 1 cup whole milk
• 1/3 cup firmly packed dark brown sugar
• 2 strips (3- x 1/2-inch each) orange zest
• 1 vanilla bean, split lengthwise, or 3/4 tsp vanilla extract
• 1/8 tsp salt
• 2 egg yolks
• 1/3 cup granulated sugar
• 1/2 tsp ground ginger