- Slice guavas in half and with a spoon remove all seeds.
- In a small bowl combine four sliced guavas, sugar, vanilla extract, and ground cinnamon. Stir to combine, set aside for 15 minutes.
- Dice remaining guava, set aside. To a blender add guava sugar mixture and milk; blend until smooth.
- Add ice cream and blend until smooth. Serve immediately garnished with remaining diced guava.