Add dry milk powder to a cold sauté pan and set it over medium-low heat. Stir constantly with a spatula to ensure even browning and to avoid sticking. Toast for 3-5 minutes until it becomes a golden color, like a graham cracker crumbs. Set aside.

Toast the vanilla bean with a pair of tongs over a medium gas flame. Pass the bean over the flame until it becomes fragrant and just starts to char. Look for it to puff up and become shiny when it’s done. This should only take a couple of minutes. Set aside to cool. If you don’t have a gas stove, you can also heat up a dry cast iron or sauté pan on high until ripping hot. Press the vanilla bean against the pan for maximum surface area contact.

Heat a saucepot (ideally at least 3 quarts/3.5L) on medium and add 50g sugar to the dry saucepot in an even layer. Do not stir or disturb the sugar; allow it to start melting around the edges. Once the mixture begins to melt, gently push the liquid sugar around the edges towards the center of the pan. Continue doing so until all the sugar is melted and becomes a light golden brown color.Very slowly drizzle in heavy cream to halt further caramelization. Take caution: it will sputter and steam. Stir with a spatula to dissolve.

Add the remaining 100g sugar, salt, milk powder and whole milk to the saucepot. Continue cooking on medium heat until the entire mixture comes to a simmer, stirring occasionally, being sure to scrape the bottom of the pot. While the mixture comes back up to a simmer, use a paring knife to split the vanilla bean in half lengthwise. Use the back of the knife to scrape out contents from inside the vanilla bean. Once the mixture comes to a simmer, turn off the heat and add the scraped vanilla bean contents and pod. Cover and allow the mixture to steep for 1 hour.

After 1 hour, prepare an ice bath by filling a large container with equal parts ice and water with enough room to place a container containing the ice cream base inside. Set aside for later.

Vigorously whisk egg yolks into the pot and return the mixture over medium heat. Cook, stirring frequently until the mixture reads 180F, then remove it from the heat. If working without a thermometer, you can use the Nappe test to check the consistency: Dip a spoon into the mixture and draw a line through it with your finger. If the mixture clings to the spoon and leaves a clean line where your finger was, move on to the next step.

Strain the mixture through a fine mesh sieve set over a heatproof container. Place the container in the ice bath to chill until the mixture is cold throughout, giving the ice cream base a stir and adding more ice if necessary.

Pour the chilled mixture into your ice cream machine and spin according to machine directions. The ice cream should be a soft-serve consistency when done. Transfer to an airtight container and place it in the freezer for at least 4 hours. To serve, allow the ice cream to thaw slightly at room temperature for 10 minutes for easier scooping.