In a medium saucepan, combine the whole milk and heavy cream.

Warm the milk and cream over medium heat until it just begins to steam, stirring occasionally.

In a mixing bowl, whisk together the egg yolks and granulated sugar until pale and thick.

Slowly pour a small amount of the hot milk mixture into the egg yolk mixture while whisking continuously.

Pour the tempered egg mixture back into the saucepan with the remaining milk and cream.

Cook over low heat, stirring constantly until it thickens enough to coat the back of a spoon.

Remove from heat and stir in the vanilla extract and salt.

Pour the mixture into a bowl, cover, and refrigerate for at least 4 hours or overnight.

Churn the mixture in an ice cream maker according to the manufacturer's instructions.