In a saucepan heat the milk and cream over a low heat, stirring until just boiling.
Remove from the heat, add the vanilla essence and leave for around half an hour to infuse.
Mix the egg yolks and sugar together in a large jug. Pour the milk and cream over the egg and sugar and whisk until combined.
Return this mixture to your saucepan and heat over a low heat for around 10 minutes, stirring with a wooden spoon, until the custard is thick enough to coat the back of the spoon.
Pour into a jug and leave to cool. If you like you can speed up the cooling by putting your jug into a bowl of cold water and ice. If you try to churn your mixture before it is cool it will not freeze in your ice cream maker.
Once cool, pour into your ice cream maker and churn for around 30 minutes or until firm enough to scoop.
Serve or transfer into a freezer proof container and freeze for later.