In a pot (prefer one with a heavy-bottom), over medium heat, boil milk and then let it cool until its temperature falls to 30ºC.
In a standard mixer whisk eggs and then add sugar gradually. Whisk for around 10 minutes or until you get an airy and fluffy mixture.
Add the milk on the on the mixture and whisk not-stop. Be careful not to add hot milk or else the eggs will curdle.
Transfer the mixture to the pot and over a medium heat the mixture, stirring occasionally, until it almost boils – you’ll see a few bubbles at the edge.
Remove from heat and let it cool.
Once cold cover with plastic warp and place the ice cream in the freezer. In order to prevent your ice cream to have "ice" on it you have to stir it every 30 minutes. This will also give an extra creamy ice cream.
After 3 hours your ice cream will be cold enough (if not, leave it in the freezer for extra 30 minutes). Stir the ice cream one more time, add the vanilla and then leave the ice maker to do the rest of it. Follow the instructions of your ice maker machine, mine ice maker machine required 20 minutes of stirring.
Place the ice cream on the freezer for 2 hours. Then, your ice cream will be ready.