In a pot on the stove, pour in your milk and sugar. Split your vanilla from end to end and scrape it slightly to expose the seeds, and drop it into the pot. Let that cook for several minutes until it comes to a simmer.
In another bowl add your egg yolks. Fill a separate bowl with ice. Very slowly add about 2 or 3 ladles of the milk mixture into your eggs to temper them.
After your eggs are tempered, slowly add them into the pot, whisking continuously. After about 2 minutes turn your fire off and pour the mixture through a strainer into a bowl, and place that bowl on top of the bowl with ice to cool it down. Slowly whisk your mixture over your ice bath.
Transfer your mixture to your ice maker and run it for about 45 minutes. Transfer your mixture into a container and place it in the freezer.