Step 1

Combine milk and cream in a medium-sized saucepan over medium-low heat. Split the vanilla bean in half lengthwise and scrape the seeds with a knife and add to mixture. Stirring occasionally, heat until the mixture reaches a temperature of 165°F and bubbles start to form around the edges.

Step 2

While the milk mixture is heating, whisk the egg yolks together until smooth in a heatproof bowl. Gradually whisk in the sugar until well incorporated and the mixture is thick and a pale yellow color.

Step 3

Temper the egg yolks by very slowly pouring the hot milk mixture while whisking constantly. Pour this mixture back into the saucepan and heat, stirring frequently, on low heat to a temperature of 165°F. The mixture should be slightly thickened, enough to coat the back of a spoon. It should not come to a boil.

Step 4

Pour the custard mixture through a fine mesh strainer into a clean bowl in an ice bath to cool the mixture completely, stirring constantly. Cover and refrigerate at least 4 hours or overnight.

Step 5

Remove the custard from the refrigerator and stir in the vanilla extract and salt. Pour the mixture into an ice cream machine and churn for about 20 minutes (follow your ice cream maker directions).

Step 6

Transfer ice cream to airtight container and freeze until solid, about 2 hours.