Pour the milk and heavy cream into a medium saucepan and heat over medium heat until it reaches a simmer. Do not let it boil, just steam!
Meanwhile, in a separate bowl, whisk the egg yolks with the maple syrup until the mixture becomes lighter and slightly frothy.
Slowly pour a small amount of the warm milk-cream mixture into the egg mixture, whisking constantly. This helps to temper the eggs and prevent them from curdling.
Pour the egg mixture back into the saucepan and cook over low heat, stirring constantly, until it thickens. It's ready when it coats the back of a wooden spoon.
Remove from heat and stir in the vanilla extract and a pinch of salt. Let it cool to room temperature.
Once cooled, pour the mixture into an ice cream maker and churn according to the machine's instructions.
When the ice cream is halfway done, add the ground walnuts so that they are evenly distributed throughout the mixture.
When finished, transfer the ice cream to an airtight container and freeze for at least 3 hours to achieve the desired consistency.
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