Pour the nonfat milk into a heavy saucepan. Split the vanilla bean lengthwise and, using the tip of a paring knife, scrape the black seeds into the mil. Add the bean and the canela and bring to a simmer and cook about 15 minutes. Let cool then strain into a bowl; should have have about 2 1/2 cups of liquid.Combine the rice and nonfat dry milk in a blender. Process until the rice is finely ground and stir into the milk.Whisk together the egg yolks and both sugars in a large bowl. Meanwhile, bring the cream nearly to a boil in a small saucepan. Whisking gently, pour the cream into the egg mixture then add the reserved milk mixture. Whisk well. Let cook, then chill.Pour the chilled custard mixture into an ice cream maker and process according to the manufacturer's instructions. Just before the ice cream is frozen, add the toasted pecans. Store in the freezer.