Over medium heat in a large saucepan, warm milk, cream, and sugar until sugar dissolves. Add cooked chicos, maple syrup, and salt. Simmer for 4 minutes, stirring continuously; do not boil. Pour mixture into a large food storage container and allow it to rest in the refrigerator overnight. Process mixture in an ice-cream machine following manufacturer’s directions. (Note: To make a creamier, less chico-forward version of this ice cream, strain the mixture before processing it in your ice cream machine.)