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Slowly bring the milk to almost boiling and then remove from heat.
In a medium bowl mix together the egg yolks and sugar until it's thick.
Pour the egg mixture into the hot milk slowly while continuously stirring.
Heat on medium until the custard thickens, about 10 minutes. Be careful not to let it boil.
Remove the pan from heat when you see a film on the back of your spoon. Leave to cool.
Stir in the heavy cream and vanilla when the custard base is cool.
Transfer the mixture to your ice cream maker and follow the manufacturer's instructions.