In a medium saucepan, combine whole milk, heavy cream, and vanilla extract (with bean pod if using). Heat over medium until edges bubble, about 5 minutes.

Meanwhile, whisk egg yolks and granulated sugar vigorously in a bowl until mixture turns pale yellow and ribbons form, about 2–3 minutes.

Slowly pour ½ cup of the warm cream mixture into yolks, whisking constantly to prevent scrambling and gently raise the temperature before returning all to the pan.

Return yolk mixture to saucepan. Cook over medium-low, stirring constantly until custard coats the back of a spoon, about 5–7 minutes or 170°F.

Strain custard through a fine-mesh sieve into a clean bowl. Cool to room temperature, then refrigerate for at least 4 hours or overnight.

Pour chilled custard into your ice cream maker. Churn following manufacturer’s instructions until it reaches a thick, soft-serve consistency, about 20–25 minutes.

Transfer churned ice cream to a freezer-safe container. Smooth the top, cover tightly, and freeze until firm, at least 2 hours.

Optional: Stir in crushed cookies or your favorite toppings during the last 5 minutes.