Combine 1 1/4 cups 2% milk and egg yolks in a heavy saucepan over medium heat. Cook until mixture is slightly thick and coats the back of a spoon (about 8 minutes), stirring constantly (do not boil). Cool egg mixture slightly.
Combine egg mixture, 1 1/4 cups 2% milk, vanilla, and condensed milk in a large bowl. Cover and chill completely. Stir in crushed candies. Pour mixture into the freezer can of an ice-cream freezer; freeze according to manufacturer's instructions. Spoon the ice cream into a freezer-safe container; cover and freeze 1 hour or until firm.