- Combine the first 4 ingredients in a heavy saucepan. Over medium heat, scald (bring just under a boil) the milk and cream with the orange peel, lemon peel, and cinnamon sticks. Remove from heat, cover, and let infuse 15 minutes. Strain.
- Meanwhile whisk eggs and sugar together. Temper hot milk into the egg mixture. Return to saucepot and, stirring constantly, heat ice cream base until slightly thickened like crème anglaise (when you run your finger on the back of a wooden spoon and it holds shape).
- Strain into an ice bath, chill, and refrigerate overnight. The next day churn in ice cream maker.
- In saucepan, make a dry caramel by heating granulated sugar in dry pan until melted and dark amber brown. Remove from heat and add hot water carefully. Return to heat and whisk until fully incorporated. Let cool to room temperature. Serve on scoops of ice cream.