Mix together the pumpkin, spices, vanilla and condensed milk.
Beat the cream until stiff peaks start to form, then fold together with the pumpkin mixture.
Transfer it to an ice cream maker and freeze according to manufacturer's directions. Alternatively, you can transfer it to a loaf pan, cover with plastic wrap and freeze for a few hours or until firm.
If adding cookies, stir them into the ice cream as you pack the mixture into a container. If making loaf pan ice cream (no-churn), stir them in before you put the mixture in the loaf pan.