Split the vanilla bean lengthwise and scrape out the seeds. Place the vanilla seeds and the pod into a saucepan with the milk and heavy cream. Heat over medium heat until the mixture begins to steam.
In a bowl, whisk together the egg yolks and sugar until pale and fluffy.
Slowly pour the warm milk mixture into the egg yolk mixture, whisking constantly to prevent the eggs from scrambling.
Pour the 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). Be careful not to let it boil!
Strain the mixture through a fine-mesh sieve to remove the vanilla pod and any lumps. Let it cool to room temperature.
Cover the ice cream base and refrigerate for at least 4 hours, or preferably overnight, to chill thoroughly.
Pour the chilled mixture into an ice cream maker and churn according to the manufacturer's instructions until it reaches a soft-serve consistency (about 20-30 minutes).
If you don't have an ice cream maker, pour the mixture into a freezer-safe container and freeze, stirring every 30 minutes with a fork or whisk to break up any ice crystals.
Once the ice cream has reached the desired consistency, serve immediately, or transfer it to an airtight container and freeze for another 2-3 hours for a firmer texture.
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