Chill the canister of an ice cream maker in the freezer overnight.

Place the yolks, sugar, and salt in a medium bowl and whisk until pale and thick.

Place the milk in a small pot and heat on the stove until small bubbles appear around the edges and wisps of steam are rising from the surface.

Pour the hot milk into the yolk mixture, a little at a time, while whisking.

When all of the hot milk has been incorporated, transfer the custard back to the pot and heat over medium-low, whisking, until hot and slightly thickened.

Strain into a heat safe bowl, stir in the cream and vanilla, and chill overnight.

Churn the ice cream for about 15-25 minutes, or until it resembles soft-serve ice cream.

Transfer to a loaf pan and freeze until hard.