In a large bowl, beat the heavy cream until thick (2 to 3 minutes).
Fold in the yogurt, vanilla, honey, maple syrup and cinnamon.
Pour into an ice cream maker.
Add the remaining ingredients a couple of minutes before the ice cream is fully thickened.
Pour into a 1 1/2 quart freezer safe bowl with a lid and chill until hardened.
If you don't own an ice cream maker, you can put the original mixture into the freezer safe bowl and freeze for 2 hours.
Then, stir the mixture and add the graham cracker and toffee pieces.
Continue to stir it every 2 hours, for up to 6 hours.
Then, chill until hardened.
*This recipe brought to you courtesy of Penzey's Spices.*