Heat milk and heavy cream in a saucepan.
Add sugar and stir until fully dissolved.
Whisk egg yolks in a bowl and slowly blend in the hot milk mixture.
Return everything to the saucepan and cook while stirring until the mixture thickens.
Add vanilla extract and mix thoroughly.
Cool, transfer to a container, and freeze.
Every 30 to 60 minutes, take it out and stir to make it smooth.
When fully set, scoop and serve.