Combine the milk, cream, brown sugar in a small saucepan. Heat the milk mixture over medium high heat until scalding hot.

While the milk heats up, whisk together the yolks, salt and vanilla in a small bowl.

Once the milk mixture is scalding hot, pour it into the bowl with the yolks and whisk to combine

Return the entire mixture to the saucepan and heat over medium low heat, stirring constantly. Cook the custard until it thickens enough to coat the back of a spatula or wooden spoon. Do not allow it to come to a boil. Remove from the heat and strain into a bowl. Cover the bowl and chill until very cold. At least 4-5 hours or over night.

Freeze according to the directions for your ice cream machine.

When the ice cream is ready, scoop it into a container and smooth to an even layer. Lay a piece of plastic wrap directly on the surface of the ice cream, cover tightly and freeze until firm.