Heat the milk over medium heat, but do not boil it. Separately, use a whisk to mix the egg yolks with the sugar. As you continue to whisk, pour in the hot milk in a thin stream. The sugar should dissolve completely.
Pour the mass into a saucepan and, stirring constantly with a spatula, bring it to a slight thickening over medium heat. Do not boil the mixture and do not overheat it. Run your finger over the spatula: if a clear groove remains, remove the pot from the heat.
Place the pan in a bowl of ice water and, stirring constantly, cool to room temperature. With a mixer, whisk the cold cream to a creamy consistency.
Pour the milk and egg mixture through a sieve into the cream. Add the vanilla extract and stir until smooth. Place the mass into a wide mould, cover with a lid or cling film and put it in the freezer for 3 to 4 hours. Stir the mixture about every hour to make it homogeneous.
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