Whisk egg yolks in a heavy medium saucepan. Add the sugar, salt, and milk; whisk till smooth. Add the cream.

Cook over medium-low or or medium heat till it barely comes to a boil, whisking constantly. Remove from the heat and add vanilla bean and vanilla extract.

Let the mixture come to room temperature, then remove the vanilla bean. Pour the mixture through a mesh strainer to remove any lumps.

Split in half and scrape vanilla seeds from the vanilla pod into the ice cream mixture.

Chill ice cream base for several hours or overnight, until very cold. I like to speed up the process by making an ice bath. Place the metal saucepan in a large bowl filled with ice cubes and water and stir till it is cold.

Freeze in an ice cream machine according to the manufacturer's instructions.

Place ice cream in a freezer-safe container and let ripen in the freezer for 2-3 hours, or until stiff enough to scoop.