Grind the toasted hazelnuts in a food processor until you get a paste-like consistency. If desired, add a little milk to make the mixture smoother.
In a saucepan, combine the heavy cream, milk, and sugar. Heat over medium heat until the sugar is completely dissolved, but do not boil.
In a separate bowl, whisk the egg yolks. Gradually whisk in a small amount of the warm milk mixture to temper the eggs and prevent them from curdling.
Pour the egg mixture back into the saucepan. Cook over low heat, stirring constantly, until the cream thickens enough to coat the back of a spoon.
Add the hazelnut paste and vanilla extract. Mix well to ensure the hazelnut paste is evenly distributed throughout the cream.
Let the mixture cool completely to room temperature, then pour it into your 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 with a lid. Stir it every hour during the freezing process to prevent ice crystals from forming.
Freeze for at least 4-5 hours, or until the ice cream has reached the desired consistency. Let it sit at room temperature for a few minutes before serving.
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