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In a mixing bowl place the (cooled) brown butter, egg yolks and brown sugar. Whisk well until combined and sugar has dissolved.
Meanwhile, pour the milk and heavy cream into a heavy bottom sauce pan. Heat until just simmering, stirring often to avoid scorching.
While whisking, carefully pour the hot milk/cream into the bowl with the eggs and brown butter. Transfer this to a new saucepan and heat on low to medium-low until thickened and coats the back of the spoon. About 10 minutes.
Place a mesh strainer into a large bowl and pour the thickened ice cream base through to catch any impurities.
Whisk in the vanilla and allow to cool slightly before covering and refridgerating for 4 hours to overnight.
Once the brown butter ice cream base has chilled completely, following the manufacturers instructions, pour the ice cream base into the ice cream maker and churn until thick.
Transfer the thickened ice cream into a freezer-safe container and freeze for 4 hours or overnight.
Serve scoops in ice cream cones or into bowls.