Heat the milk and cream. Combine the milk, cream, ½ cup of sugar, and vanilla bean in a saucepan. Heat over medium heat until warm and steaming, reaching about 170°F. Stir occasionally to prevent skin from forming.
Beat the eggs and remaining sugar. In a separate bowl, beat the egg yolks and remaining ¼ cup of sugar until the mixture is light yellow and well combined. This will take 2-3 minutes with a hand mixer on low speed.
Temper the eggs. Gradually add half of the warm milk mixture to the egg yolks, a half cup at a time, whisking constantly to prevent the eggs from curdling. Then, pour the egg mixture back into the saucepan with the remaining milk and cream.
Heat. Cook the mixture over medium heat, stirring constantly, until it thickens and reaches 185°F. The custard should coat the back of a spoon. Be careful not to let it boil. Remove from heat and stir in the pinch of salt and ground cinnamon.
Strain. Pour the custard through cheesecloth or a fine-mesh strainer into a clean bowl to remove cooked egg bits. Cover the bowl with plastic wrap, pressing it directly onto the surface of the custard to prevent skin from forming. Chill in the refrigerator for at least 4 hours, preferably overnight, until very cold.
Churn. Pour the chilled custard into an ice cream maker and churn according to the manufacturer's instructions. When the ice cream reaches the consistency of soft serve, add the slightly crushed Golden Oreos and apple pie filling. Let the machine run for an additional minute to mix everything evenly.
Freeze. Transfer the ice cream to a loaf pan, cover with plastic wrap, and freeze for about 30 minutes to firm up before serving.