Place the bowl of your ice cream maker in the freezer and freeze overnight. Note: if you don't own an ice cream maker, no big deal! You can still make this recipe.

Add all ingredients to a medium-sized saucepan and whisk well. Note: be sure you open and scrape the vanilla bean into the mixture prior to adding the full bean...this way you get a great deal of vanilla flavor out of it.

Place the saucepan on the stove top and heat to medium. Cook, whisking consistently until mixture is beginning to steam but does not reach a full boil. Remove from heat and allow mixture to cool before transferring it to a sealable container. Refrigerate at least 2 hours, or until completely chilled.

Stir the ice cream base well and pour it into your ice cream maker. Turn ice cream maker on and churn until very thick and creamy. Serve immediately for soft serve consistency or for an ice cream consistency, transfer to a sealable container and freeze for at least 2 hours. Note: if you don't own an ice cream maker, simply transfer the base to a freezer-safe container and freeze 4 hours or until completely frozen.

Allow ice cream to thaw before scooping and serving.