Split the bourbon vanilla bean in half lengthwise. Scrape out the seeds and set them aside.
In a saucepan, combine the milk, heavy cream, and sugar. Add the vanilla seeds and the scraped vanilla bean pod. Heat over medium heat until the sugar is completely dissolved, but do not boil.
Remove the saucepan from the heat and let it steep for 10 minutes to allow the vanilla flavor to fully infuse. Discard the vanilla bean pod.
Stir in the vanilla extract and bourbon whiskey, which enhances the flavor and helps create a creamier texture.
Let the mixture cool completely to room temperature, then refrigerate for at least 2 hours to chill thoroughly.
Pour the chilled ice cream base into an ice cream maker and churn according to the manufacturer's instructions. If you don't have an ice cream maker, pour the mixture into a freezer-safe container and whisk every hour with a fork to prevent ice crystals from forming.
Freeze the ice cream for at least 4 hours, or until solid.
Before serving, let the ice cream stand at room temperature for a few minutes to soften slightly. Garnish with extra vanilla seeds or chocolate shavings, if desired.
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