In a medium saucepan, combine whole milk, heavy cream, and sugar. Warm the mixture over medium heat until the sugar dissolves and the liquid is heated through (do not boil).

In a mixing bowl, whisk the egg yolks. Slowly pour a small amount of the warm milk mixture into the yolks, whisking continuously to temper the eggs and prevent curdling.

Pour the tempered egg mixture back into the saucepan and cook over medium-low heat, stirring constantly until the mixture thickens slightly and coats the back of a spoon (about 170°F or 77°C).

Remove from heat and stir in the vanilla extract (or scrape in the seeds from a vanilla bean if using).

Let the custard cool to room temperature, then cover and refrigerate for at least 2 hours or until fully chilled.

Once chilled, pour the mixture into an ice cream maker and churn according to the manufacturer’s instructions. Transfer the churned ice cream to a freezer-safe container and freeze for another 2 hours for a firmer texture.

Scoop two generous servings per person into bowls or cones for a classic treat.