Cook milk and half-and-half in a heavy saucepan over medium-high heat to 180° or until tiny bubbles form around edge (do not boil). Remove from heat.
Combine sugar and egg yolks in a large bowl, stirring with a whisk until thick and pale. Gradually add hot milk mixture to egg mixture, stirring constantly with a whisk. Return milk mixture to pan. Stir in salt; cook over medium heat 10 minutes or until thick, stirring constantly. Remove from heat; stir in vanilla.
Place pan in a large ice-filled bowl until custard is chilled (about 1 hour), stirring occasionally.
Pour mixture into the freezer can of an ice-cream freezer; freeze according to manufacturer's instructions. Spoon frozen custard into a freezer-safe container; cover and freeze 3 hours or until firm.
Kids Can Help: I love making our sweet treats really count, so when we're at the store, I ask my kids to pick out the fruit they'd like to add to this base. Then they're really excited to eat it, plus they're getting a great dose of fruit. Kids can also help by measuring all the ingredients for you.