Preheat oven to 180 C.
Place bacon on a lined oven tray and sprinkle with brown sugar.
Bake bacon for about 15 minutes or until browned. Turn bacon halfway through cooking.
Allow the rashers to cool, then chop into small pieces using a kitchen knife or scissors.Transfer to a container and refrigerate for an hour to cool.
Add milk,cream, sugar, maple syrup, and vanilla to a large bowl and whisk for about a minute until well combined and sugar has dissolved.
Pour mixture into an ice cream maker and follow the manufacturer's instructions to churn.
When the ice cream is almost churned, add the chopped bacon and allow to churn for a further minute until combined.
Place ice cream in an airtight container and freeze for at least 3 hours.
