In a heavy bottom sauce pan combine milk, heavy cream, and vanilla. Cook over medium heat until mixture is steaming and small bubbles start to form around the edge of the pot.
Meanwhile, whisk egg yolks and sugar together in a medium sized mixing bowl. Once the milk and cream is steaming, spoon a ladel full of the hot mixture over the eggs and quickly whisk together. Repeat process once more.
Add egg mixture to the saucepan, and whisk to combine. Continue to cook, stirring constantly, until the ice cream base reaches 180°F on an instant read thermometer.
Place a fine mesh strainer over the empty bowl on top of the ice bath. Stain ice cream base. Chill ice cream base until it has stopped steaming. Cover and refrigerate for 4 hours, or up to overnight.