Yield: 1 ¼ quarts
Whip the egg yolks while adding the sugar slowly. Continue whipping until it's smooth. Add the milk and mix thoroughly.
Cook the custard over medium heat, stirring constantly with a wooden spoon, until it is thick enough to coat the back of the spoon. This should happen at about 165°F - 170°F. If the custard starts to fill with lots of tiny flecks, you've cooked it too far - stop! Remove the custard from the heat and cool to refrigerator temperature. Add the cream and vanilla. Mix well.
Freeze using your method of choice.