Gather the ingredients.

Warm the milk in a large saucepan with 1 teaspoon of the vanilla extract, 2 teaspoons of the sugar, and the milk powder. Stir well to ensure everything is incorporated.

Lower the heat and simmer for 5 minutes. Remove from the heat and leave to infuse while preparing the remaining ingredients.

Place the egg yolks into the bowl of a stand mixer with the remaining vanilla extract and sugar. Whisk for at least 10 minutes until the eggs are light, fluffy, and increased in volume.

Put a mixing bowl large enough to hold the custard into the freezer or chill the bowl with ice cubes.

Gently reheat the milk mixture until warm but not hot or boiling to avoid curdling the custard.

Pour the liquid slowly over the beaten eggs with the mixer running on medium speed; take care and do not rush this process.

Return the custard to the pan and place over low heat. Stir continuously and cook slowly and gently until the mixture has thickened enough to coat the back of a metal spoon.

Pour the custard into the chilled bowl and continue to stir until the custard is cold.

Pour the gelato into a plastic tub with a well-fitting lid. Put into the freezer for 30 minutes.

Take the custard out and beat with either a fork, hand whisk, or electric hand mixer to break down the custard into a smooth consistency. Do this 3 or 4 times every 30 minutes.

Store the gelato in a plastic tub with a well-fitting lid.

Remove the gelato from the refrigerator 10 minutes before serving.

Cut a circle of greaseproof paper and lay this on the surface of the custard (this prevents a skin forming). Put the custard into the fridge for 3 to 4 hours or even overnight.

Churn in ice cream machine following the manufacturer's instructions.