Frozen Orange Mousse

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1 cup milk

1 vanilla bean, split

3/4 cup sugar

9 egg yolks

6 tablespoons orange juice concentrate

1 tablespoon orange extract

2 tablespoons corn syrup

2 cups heavy cream, whipped to soft peaks

1 pint raspberries

1 tablespoon confectioners' sugar (optional)

Orange segments, for garnish