Peel the fresh ginger and grate it finely or slice it thinly.
In a saucepan, combine the milk, heavy cream, and sugar. Heat over medium heat, stirring until the sugar is completely dissolved, but do not bring to a boil.
Add the grated or sliced ginger, and let the mixture simmer over low heat for 10 minutes to allow the flavors to meld.
Remove the saucepan from the heat and strain the mixture to remove the ginger pieces.
Stir in the vanilla extract until well combined.
Let the mixture cool completely to room temperature, then refrigerate for at least 2 hours to chill thoroughly.
Pour the well-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 it into a freezer-safe container and stir it with a fork every hour to prevent ice crystals from forming.
Place the ice cream in the freezer for at least 4 hours to harden completely.
Before serving, let it stand at room temperature for a few minutes to soften slightly for easier scooping. Garnish with candied ginger or a little grated lemon zest, if desired.
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