Toast the almonds in a dry skillet over medium heat until lightly golden brown. This enhances their flavor. Let them cool, then finely chop or grind them.
Pour the milk and heavy cream into a medium saucepan, then add the vanilla extract and the finely ground almonds. Slowly heat over medium heat until it begins to steam, but do not boil!
In another bowl, whisk together the sugar and egg yolks until light and creamy.
Gradually add a ladleful of the warm milk mixture to the egg yolk mixture while whisking constantly to temper the eggs. This prevents the eggs from curdling.
Pour the tempered egg mixture back into the saucepan with the remaining milk. Cook over low heat, stirring constantly, until the custard thickens and coats the back of a spoon (about 5-7 minutes). Do not let it boil!
Strain the mixture through a fine-mesh sieve to remove any large almond pieces and thicker parts. Let it cool completely to room temperature, then refrigerate for at least 4 hours to allow the flavors to meld.
If you have an ice cream maker, pour the mixture into it and churn according to the manufacturer's instructions. If not, pour the mixture into a deep bowl and freeze, stirring with a fork every half hour to maintain a creamy texture.
Let the ice cream sit at room temperature for a few minutes before serving to make it easier to scoop. Garnish with sliced almonds or a drizzle of honey.
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