Combine sugar, half-and-half, and 2 1/2 cups 1% milk in a saucepan over medium heat. Whisk cornstarch into 1/2 cup 1% milk. Stir mixture into pan; boil. Cook 2 minutes, stirring. Strain into a bowl. Stir in vanilla and cinnamon. Chill until cold, stirring occasionally. Process in an ice-cream maker. Scoop gelato into a container; freeze 2 hours.
MyRecipes is working with Let's Move!, the Partnership for a Healthier America, and USDA's MyPlate to give anyone looking for healthier options access to a trove of recipes that will help them create healthy, tasty plates. For more information about creating a healthy plate, visit www.choosemyplate.gov.