3 1/2 cups (two 14-ounce cans) unsweetened, preservative-free coconut milk (regular, not lite), divided
2  (3-inch) cinnamon sticks, broken in half
3  (2-inch by 1/2-inch) strips of lemon peel or zest, removed with a vegetable peeler
1/3 cup cool or cold filtered water
2 teaspoons unflavored gelatin or 3/4 teaspoon agar agar powder (not the flakes)
1/4 cup honey or 1/4 cup agave nectar; additional 2-3 teaspoons as needed
1/8 teaspoon finely ground, unrefined sea salt
1/4 to 1/2 teaspoon pure stevia extract powder or 1/2-1 teaspoons clear stevia extract
1 1/2 teaspoons ground cinnamon
1 teaspoon pure vanilla extract or 1 teaspoon alcohol-free vanilla flavoring

Combine 2 cups of coconut milk with the cinnamon sticks and lemon zest in a medium saucepan. Bring to boil over medium heat. Cover, reduce heat, and simmer for 10 minutes. Remove from heat and let steep at room temperature for 1 hour.

Add 1/3 cup water to a small saucepan. Slowly sprinkle with gelatin or agar agar powder. Let stand for 2 to 5 minutes to soften. Warm over medium-low heat, without stirring, until gelatin or agar agar dissolves. Scrape the mixture into a blender, Vita-mix, or food processor. Cover and process until smooth. Add the honey, sea salt, stevia, ground cinnamon, and vanilla. Blend.

Reheat the cinnamon-infused coconut milk. Remove the cinnamon sticks with a slotted spoon and discard. Add the cinnamon-infused coconut milk to a blender with the gelatin mixture. Cover and process until smooth.

Pour into one or more wide-mouth jars. Cover and refrigerate for at least 6 hours before churning.

Scrape the chilled custard into the canister or your ice cream maker. Churn according to the manufacturer's instructions. Serve immediately or spoon into several 8- to 16-ounce freezer-safe containers. Cover and freeze for 3 or more hours for a firmer texture.

Soften solidly frozen dessert in the refrigerator for 45 minutes or on the counter for 20 to 30 minutes before serving.