In a saucepan, combine the heavy cream, milk, sugar, and ground poppy seeds. Heat over medium heat, stirring until the sugar is completely dissolved. 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, preventing them from scrambling.
Pour the egg mixture back into the saucepan and cook over low heat, stirring constantly, until the cream thickens and coats the back of a spoon.
Remove from the heat, stir in the vanilla extract and grated lemon zest, and mix well. Let the mixture cool completely to room temperature.
Pour the mixture 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 every hour during the freezing process.
Freeze for at least 4-5 hours, or until firm enough. Let it sit at room temperature for a few minutes before serving.
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