Using a small knife, slit the vanilla pod lengthways. Pour the milk and cream into a saucepan, add the vanilla pod and heat, but do not boil. Remove from the heat and leave for 15 minutes to allow the flavours to infuse.
Whisk the egg yolks, sugar and a pinch of salt in a bowl until the mixture is thick and foamy. Gradually pour over the hot milk cream mixture, whisking constantly. It should now be a viscous mixture.
Churn the mixture in your ice cream maker until thick and frozen, which takes around 25 - 30 minutes.
Place it into an ice cream container and put in the freezer or serve.