Split the vanilla bean lengthwise and use the tip of a knife to scrape out the seeds.
In a medium saucepan, combine the goat milk and heavy cream. Add the sugar and vanilla seeds. Heat over medium heat, but do not boil.
Meanwhile, in a separate bowl, whisk the egg yolks until they are slightly lighter in color and have a thicker consistency.
Slowly pour a ladleful of the warm milk mixture into the egg yolks, whisking constantly. This tempers the eggs, preventing them from scrambling.
Pour the tempered egg mixture back into the saucepan and cook over low heat, stirring constantly, until the custard thickens enough to coat 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 solids. Let it cool completely, then refrigerate for at least 4 hours.
If you have an ice cream maker, pour the chilled mixture into it and churn according to the manufacturer's instructions. If not, pour the mixture into a shallow dish and place it in the freezer. Every half hour, stir it with a fork to keep it creamy.
Before serving, let it sit at room temperature for a few minutes to soften slightly and make it easier to scoop. Garnish with fresh fruit or chopped nuts, if desired.
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