In a saucepan, combine the whole milk and sugar over medium heat. Stir until the sugar dissolves.

In a separate bowl, whisk the egg yolks until they’re light and fluffy. Gradually pour the hot milk mixture into the egg yolks while whisking continuously to prevent curdling.

Return the mixture to the saucepan and cook over low heat, stirring constantly until it thickens slightly, about 5-7 minutes.

Remove from heat and stir in the heavy cream, vanilla extract, and salt until well combined.

Chill the mixture in the refrigerator for at least 2 hours or until cool.

Once chilled, pour the mixture into an ice cream maker and churn according to the manufacturer’s instructions until it reaches a soft-serve consistency.

Transfer to a container and freeze until firm, about 4 hours.