In a small saucepan over medium-high heat, combine milk, heavy cream, and vanilla bean. Bring to a boil. Remove from heat and let steep for 1 hour.
In a large bowl, whisk yolks, vanilla sugar, and salt to combine. Bring milk mixture to a boil and remove the vanilla bean; reserving for another use. Slowly add to yolks while whisking constantly. Let stand 5 minutes.
Prepare an ice bath. Add vanilla extract to the ice cream base stirring to combine. Strain through a fine sieve over a medium bowl. Cool ice cream base in ice bath. Transfer to an ice cream maker and freeze according to the manufacturer's directions.
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