Toast the ground walnuts in a dry skillet over low heat for 2-3 minutes, until fragrant, being careful not to burn them.
In a saucepan, combine the heavy cream, milk, and sugar. 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.
Pour the egg mixture back into the saucepan and cook over low heat, stirring constantly, until the cream thickens enough to coat the back of a spoon.
Remove from heat, add the toasted ground walnuts and vanilla extract, and stir well. Allow the mixture to cool completely at 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 every hour during freezing.
Freeze for at least 4-5 hours, or until firm. Let it sit at room temperature for a few minutes before serving.
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