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Add the first 5 ingredients into a large pot. Turn heat to medium and stir continuously. Once custard reaches a boil, turn heat to low and continue cooking for 2-3 minutes. Keep stirring the whole time.
Remove from heat and let it cool for an hour. Transfer to another bowl if needed to speed up the cooling process as some pots can retain heat for a while.
While waiting for the items to cool, crush up Oreo cookies.
Bring mixture into the refrigerator and cool for another 1-2 hours, or until mixture is slightly cold. Do not pour warm mixture into ice cream maker.
Pour mixture into ice cream maker and churn. Churn time will be according to your ice cream maker's instruction. Or churn until ice cream is thickened and creamy.
Five minutes prior to completing the churning process, add crushed Oreo cookies into ice cream maker to churn.
Transfer ice cream to a container and freeze for at least 5 hours.
Scope and enjoy!