In medium saucepan, heat milk to a simmer. Add half of the milk to the egg yolk mixture; whisk until blended. Stir in remaining milk. Cook over low heat, stirring constantly, until mixture coats back of spoon.
Remove from heat; stir in the cream. Pass mixture through a fine strainer into medium bowl set over an ice bath to chill. Stir in vanilla.
Freeze in an ice cream maker according to manufacturer's instructions.
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