Warm milk and cream in a saucepan over medium heat until steamy, not boiling. Stir occasionally.
In a bowl, whisk egg yolks, sugar, and salt until smooth.
Gradually pour warm milk into the egg mixture while whisking constantly to temper the yolks.
Return everything to the saucepan. Cook over medium heat, stirring continuously, until thickened and it coats the back of a spoon.
Remove from heat and stir in the vanilla.
Cool slightly, then chill in the fridge for about 30 minutes.
Pour into silicone molds and freeze until solid (preferably overnight).
The next day, remove frozen cubes and blend in a food processor until creamy.
Transfer to a container and freeze for a few more hours to firm up.
Let sit at room temperature for 10 minutes before scooping.
