In a large saucepan, combine sugar, crushed pineapple, lemon juice, and a pinch of salt. Cook over medium heat for 5-7 minutes until the sugar dissolves and the pineapple releases its juices.
In a medium bowl, whisk the egg yolks until smooth. Slowly pour about one cup of the hot pineapple mixture into the yolks while whisking constantly to temper them.
Return the egg yolk mixture to the saucepan and cook for 3-4 minutes, stirring frequently until the mixture thickens and coats the back of a spoon.
Stir in the heavy cream, whole milk, and vanilla extract. Heat through but do not boil. Remove from heat and allow to cool completely.
Cover and chill the mixture in the refrigerator until thoroughly chilled. Then, pour it into your ice cream maker and churn according to the manufacturer's instructions.
Transfer the churned ice cream to a freezer-safe container and freeze for at least 4 hours until firm. Let sit at room temperature for 10-20 minutes before serving for easier scooping.
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Notes
Store in an airtight container in the freezer for up to 2 weeks. Let soften slightly before scooping.