Is it normal for ice cream custard to get stuck on whisk with hand churn method?

Yes, it is absolutely normal for the ice cream custard that you are churning by hand to get stuck on the whisk. If the ice cream has set and gets stuck firmly, it takes some time for the ice cream to chill down before it becomes unstuck and scoopable again.

Homemade ice cream tends to be denser and harder by nature, so try leaving it in the chiller compartment for about 10 to 15 minutes (but not too long until ice cream turns into a sludge) to become unstuck again.

The trick is to always transfer your ice cream into a serving container when it is still soft and scoopable after several rounds of hand churning. When the texture is just about to harden, it makes matters a lot easier to transfer from container to container.

Alternatively, if you don't mind, you can always eat the ice cream off the whisk. Saves you the trouble of putting ice cream into serving containers and making all neat and pretty.