Split the vanilla bean pod lengthwise and scrape out the seeds. Add both the seeds and the pod to a medium saucepan.
Combine the milk, heavy cream, and half of the sugar in the saucepan. Heat over medium heat until steaming but not boiling. Remove from heat and let the mixture steep for 10 minutes.
In a mixing bowl, whisk the egg yolks and remaining sugar until the mixture is pale and slightly thickened.
Slowly add 1 cup of the warm milk mixture to the egg yolks while whisking constantly to prevent curdling.
Pour the tempered yolk mixture back into the saucepan with the remaining milk mixture. Cook over low heat, stirring constantly, until the custard thickens enough to coat the back of a spoon (about 170–175°F).
Remove from heat, discard the vanilla pod, and strain the custard through a fine mesh sieve into a clean bowl. Cool to room temperature, then cover and refrigerate for at least 2 hours or until fully chilled.
Pour the chilled custard into an ice cream maker and churn according to the manufacturer’s instructions, usually 20–25 minutes.
Transfer the churned ice cream to an airtight container and freeze for 4–6 hours, or until firm.
Scoop and serve as-is or pair with your favorite dessert.