01 - Split the vanilla bean lengthwise and scrape out the seeds. Combine the seeds, pod, whole milk, and heavy cream in a medium saucepan. Heat gently over medium-low heat until the mixture is just steaming but not boiling. Remove from heat and let infuse for 15 minutes.
02 - In a mixing bowl, whisk together the egg yolks and granulated sugar vigorously until the mixture turns pale yellow and reaches a creamy, ribbon-like consistency.
03 - Remove the vanilla pod from the cream mixture. Slowly pour the warm cream into the egg yolk mixture in a thin, steady stream while whisking constantly to prevent the eggs from scrambling.
04 - Return the combined mixture to the saucepan and cook over low heat, stirring constantly with a wooden spoon. Continue until the custard thickens enough to coat the back of the spoon, reaching approximately 175°F. Do not allow it to boil or the custard will curdle.
05 - Pour the custard through a fine sieve into a clean bowl to remove any cooked egg bits. Allow it to cool to room temperature, then refrigerate for at least 2 hours or until thoroughly chilled throughout.
06 - Pour the chilled custard into an ice cream maker and churn according to the manufacturer's instructions until it reaches a soft-serve consistency.
07 - Transfer the churned ice cream into a freezer-safe lidded container. Smooth the top, cover tightly, and freeze for at least 3 hours or until the ice cream is fully firm.
08 - Remove the ice cream from the freezer and let it soften at room temperature for 5 to 10 minutes before scooping and serving.