Gather the ingredients.
Warm the milk in a large saucepan with 1 teaspoon of vanilla extract, 2 teaspoons of the sugar, and the milk powder. Stir well to ensure everything is incorporated.
Lower the heat, simmer for 5 minutes, remove from the heat, and leave to infuse while you prepare the remaining ingredients.
Place the egg yolks into the bowl of a stand mixer with the remaining sugar and vanilla extract and whisk for at least 10 minutes until the eggs are light, fluffy, and increased in volume.
Put a mixing bowl large enough to hold the custard into the freezer or chill down with ice cubes.
Gently reheat the milk to warm–but not hot or boiling as you risk curdling the custard.
With the mixer running on medium speed, slowly and gently pour the liquid over the beaten eggs; take your time and do not rush this process.
Return the custard to the milk pan, place over low heat, and stir continuously to cook slowly and gently until the mixture has thickened enough to coat the back of a metal spoon.
Pour the custard into the chilled down bowl and continue to stir until the custard is cold enough to put back into the refrigerator. Continue with either the ice cream maker instructions or churn by hand per below.
Cut a circle of greaseproof paper and lay this on the surface of the custard (this prevents a skin forming). Put the custard into the fridge for 3 to 4 hours or even overnight.
Then churn in your ice cream machine following the manufacturer's instructions.