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Place whipping cream, milk, egg yolks and sugar in a large saucepan. Whisk constantly over medium heat for 8 to 10 minutes, or until mixture is slightly thickened. Add vanilla and remove from heat.
Allow the cream mixture to cool completely (at least 1 hour). To prevent a “skin” from forming, cover the custard mixture with a layer of plastic wrap. Chill for 8 to 24 hours.
Pour the mixture into an ice cream maker, or into a Kitchenaid® ice cream maker attachment for a stand mixer, and process according to the manufacturer’s directions.
Freeze in an airtight container for several hours until it firms up and becomes scoop-able. Serve and enjoy!