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Chill a 1.25L (5-cup) capacity metal loaf pan in the freezer. Place milk and cream in a saucepan. Scrape vanilla seeds into pan. Add vanilla bean. Bring to the boil. Set aside for 5 minutes to cool slightly. Remove the vanilla bean.
Use a balloon whisk to beat egg yolks and sugar in a bowl until thick and pale, and a ribbon trail forms when the whisk is lifted. This traps air into the mixture, giving the ice-cream a light texture. Whisk in the cream mixture.
Pour into a clean saucepan. Cook over low heat, stirring constantly with a flat-edged wooden spoon, for 20 minutes or until custard coats the back of the spoon and leaves a trail when you run your finger through it.
Transfer the mixture to a medium heatproof bowl. Cover the surface of the custard with plastic wrap to prevent a skin forming. Set aside for 30 minutes to cool. Place in the fridge for 2 hours to chill.
Pour the custard into the chilled loaf pan. Cover with foil and place in the freezer for 6 hours or until it's almost set. Use a metal spoon to roughly break up the ice-cream. Transfer the ice-cream to a large bowl.
Use an electric beater to beat for 3 minutes or until smooth and pale. This breaks up the ice crystals and gives the ice-cream a smooth texture. Return to the loaf pan. Cover with foil and freeze for 4 hours or until firm.