To make the custard for homemade ice cream, cook milk in a heavy saucepan over medium heat, stirring just until bubbles appear. Remove the pan from the heat, and add
a split vanilla bean. Cover and let stand for 20 minutes.
Discard the vanilla bean.
Combine egg yolks, sugar, vanilla extract, and salt in a bowl, and stir with a whisk until the mixture is thick and pale.
Add about ½ cup of the warm milk mixture to the egg yolk mixture to temper the eggs so they won’t curdle. Return the egg mixture to the milk in the saucepan, stirring with a whisk. Cook over very low heat, stirring constantly, for 5 minutes or until the mixture thickens and coats the back of a spoon.
Remove the custard mixture from the heat, and pour through a wire-mesh strainer into a bowl. Let the mixture cool, stirring occasionally.
Stir in cream, then cover and chill for one hour.
Pour the mixture into the freezer container of a hand-turned or electric ice cream freezer, and freeze according to manufacturer’s instructions.