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Heat half-and-half in a medium saucepan over medium heat, stirring often, until bubbles form around the edge of the pan. Do not boil. Remove from heat.
Attach the flat beater to your KitchenAid® stand mixer. Place the egg yolks and sugar in the stand mixer bowl and beat on low for about 1 minute or until well blended and slightly thickened. Gradually add in the warm half-and-half on low; mix until blended. Return mixture to the same saucepan; cook over medium heat, stirring constantly, until small bubbles form around the edge and the mixture is steamy. Do not boil. Transfer the mixture to a large bowl. Gently stir in cream, vanilla and salt, then cover and refrigerate 2 hours, or until cold.
Attach the frozen KitchenAid® Ice Cream bowl and dasher to the stand mixer. Turn the mixer to stir, and pour the cold mixture into the bowl with the mixer running. Allow the mixer to stir the ice cream mixture for 15-20 minutes or until it reaches the consistency of soft serve ice cream.
Transfer ice cream to an airtight container; freeze for several hours or until firm.