Combine milk, cinnamon, vanilla, and cloves in a medium pot over medium-high heat. Cook, stirring every so often, until spices incorporate into the milk, 3 to 5 minutes. Stir from the bottom to prevent burning.

Whisk egg yolks and cane sugar together in a large mixing bowl until pale yellow, thick, and smooth.

Remove the milk mixture from the stove. Gradually pour a small amount of hot milk into the egg yolk mixture while whisking quickly to temper the eggs. Continue until all milk is added.

Return the mixture to the pot and heat over medium, stirring constantly with a spatula until thickened and light beige, about 5 minutes. Remove from heat.