Beat the egg yolks until light and creamy, then slowly incorporate sugar while continuing to beat until smooth.
Heat the lactose-free milk with the split vanilla bean (seeds and pod) until simmering. Create a cornstarch slurry with a portion of the milk and set aside.
Temper the hot milk into the egg mixture carefully, then return the mixture to the saucepan and cook over medium-low heat until thickened (175°F–180°F).
Add the cornstarch slurry, stirring until the custard thickens. Add a pinch of salt and let cool to room temperature, then refrigerate overnight.
Churn the cold custard in an ice cream maker according to the manufacturer's instructions, usually around 20 minutes.
Transfer to an airtight container and freeze for at least 4 hours before serving.
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Notes
Store in an airtight container for up to two weeks. Allow to soften slightly before scooping.