Put milk and vanilla in a saucepan and bring to the boil.
Remove from heat and infuse for 30 minutes.
Beat egg yolks with sugar until the mixture is thick and creamy.
Stir half of the milk into the egg yolk mixture and mix well.
Stir all the yolk mixture into remaining milk.
Place over a low heat and cook until mixture thickens slightly, stirring constantly.
Pour into a bowl to cool. When cool, stir in cream.
Place mixture into an ice cream machine and freeze.
If you don't have an ice cream machine, place the mixture into a shallow container in the freezer and beat mixture every half hour to prevent ice crystals forming.