Cook 2% milk over medium-high heat in a heavy saucepan to 180° or until tiny bubbles form around edge (do not boil). Remove from heat. Add tea bags and vanilla bean; let stand 15 minutes. Remove and discard tea bags, pressing liquid out of bags. Remove vanilla bean; scrape seeds from bean into milk mixture, and discard bean. Add evaporated milk, stirring with a whisk.
Combine sugar and next 9 ingredients in a medium bowl. Gradually add milk mixture to sugar mixture, stirring constantly with whisk. Return milk mixture to pan. Cook over medium heat until mixture thickens and coats the back of a wooden spoon, stirring constantly. Transfer mixture to a bowl. Place over an ice bath and cool completely, stirring occasionally.
Pour milk mixture into the freezer can of a 2- to 3-quart ice cream freezer, and freeze according to manufacturer's instructions. Spoon ice cream into a freezer-safe container. Cover and freeze 1 hour or until firm.
Oh, man. This ice cream is amazing. I was worried it wouldn't be creamy enough using milk instead of cream. I was also worried about the cloves in the recipe because I don't like cloves. I thought about just using vanilla extract instead of a vanilla bean but went ahead with the bean and very glad I did. It is a simple recipe to make. I stirred everything constantly the whole way through and it is smooth, creamy and so tasty my husband and I wanted to keep it for ourselves and go buy ice cream at the store for the party we made it for! I wouldn't change a thing, I would just double the recipe but one recipe fits perfect in a two quart ice cream maker. We will definitely do this again.
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