In a medium saucepan, combine the milk and heavy cream. Heat over medium heat, but do not let it boil.
In a separate bowl, whisk the egg yolks and sugar together until light and fluffy.
Slowly pour a small amount of the warm milk-cream mixture into the egg yolk mixture, whisking constantly to temper the eggs.
Gradually pour the egg mixture back into the saucepan. Cook over low heat, stirring constantly, until the mixture thickens slightly (about 5-7 minutes). Do not boil.
Remove from heat and stir in the vanilla extract and whiskey. Let it cool completely.
Pour the ice cream mixture into a freezer-safe container 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. If you don't have an ice cream maker, freeze for 3-4 hours, stirring thoroughly every hour.
Serve in elegant glasses or cones, and enjoy the creamy vanilla whiskey ice cream!
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