In a small saucepan over medium heat, warm the milk, cream, vanilla bean and seeds.
In another saucepan off the heat, combine the sugar, cornstarch and salt. Whisk in the egg yolks. Stir in the milk mixture.
Cook over medium-low heat, stirring constantly with a wooden spoon and scraping the sides and bottom of the saucepan, until the mixture thickens and coats the back of a spoon. Strain through a sieve. Pour into a bowl and let cool.
Cover with plastic wrap directly on the surface of the cream. Refrigerate for about 2 hours or until completely chilled. If desired, place the bowl over an ice bath for faster chilling.
Churn the cream in an ice cream maker, following the manufacturer’s instructions, until it thickens. Transfer to an airtight container and freeze for 2 hours.
If the ice cream is too firm, allow to sit at room temperature for a few minutes before serving. The ice cream will keep for about 2 weeks in the freezer.
Recipes with the "Healthy Pick" stamp have been evaluated by a registered dietitian member of the Ordre professionnel des diététistes du Québec.