Heat the milk, salt, and sugar in a saucepan over medium to low heat. Stir occasionally with a heat-resistant spatula.
Set up an ice bath by placing a 4 quart (or larger) bowl in a slightly larger bowl partially filled with ice and water. Set a strainer over the top of the smaller bowl and pour the cream into the bowl.
In a separate bowl, whisk together the egg yolks. Gradually pour some of the warm milk into the yolks, whisking constantly as you pour. Scrape the warmed yolks and milk back into the saucepan.
Cook over low heat, stirring constantly and scraping the bottom with a heat-resistant spatula, until the custard thickens enough to coat the spatula. (Approximately 10 minutes)
Strain the custard into the heavy cream. Stir over the ice until cool (approximately 2-4 minutes). Stir in the the vanilla extract.
Refrigerate to chill thoroughly. Preferably overnight.
When you are ready to make the ice cream, freeze the custard in your ice cream maker according to the manufacturer’s instructions. Serve with fresh berries for a great summer treat. Enjoy!