Confirm that your ice cream maker is prepped and ready. Add milk and cream to a saucepan and heat over low or medium-low heat. You want a simmer at most, not a boil. Once hot, remove the saucepan from the heat.
Add egg yolks and sugar to a mixing bowl and whisk by hand or with an electric mixer until lighter in color and airy.
Slowly and steadily pour the hot milk and cream into the whipped eggs and sugar, whisking continuously until smooth and fully incorporated.
Pour all ingredients back into the saucepan and whisk over medium-low heat until reaching 165-170 degrees Fahrenheit. Strain the mixture through a fine mesh strainer to remove any bits of egg. Refrigerate for at least 2-3 hours or until chilled through.
Once chilled, pour the mixture into your ice cream maker and prepare according to the instructions on your specific machine.
Serve as soft-serve consistency from the ice cream maker, or pour the ice cream into a loaf pan and freeze to firm up before serving.
Notes
Keep the mixture from boiling. Keep the heat low to medium-low to prevent scalding or curdling.
Whisk constantly while tempering the eggs to avoid curdled, cooked eggs.
Make sure your ice cream mixture is fully chilled before adding to the ice cream maker.
Add mix-ins while the ice cream churns, especially toward the end when the ice cream is thickening.