Whisk yolks and 2 tbsp sugar until pale in colour. Set aside.
Add milk and cream to a saucepan and heat while stirring until simmering. Remove from heat.
Pour 1/2 cup of the heated milk mixture slowly into the yolks, all the while whisking.
Pour the yolks back into the milk mixture along with the miso and whisk until combined. Continue heating on a low-med heat (don't allow to boil) until the liquid coats the back of a spoon. This will usually only take a few minutes.
Add vanilla and stir until combined. Set aside.
Add 3/4 cup sugar and water to a medium saucepan and heat on high until it starts to melt. Shake the pot occasionally to ensure even heating. As the sugar turns light brown, remove from heat and continue to shake the sugar until it turns a dark brown. If the sugar doesn't reach this dark brown/amber shade then continue heating for a little longer.
Once the sugar has darkened it will now be caramel. Whisk the milk mixture into the caramel and then add to an airtight container. Chill in the fridge overnight to allow miso flavour to infuse.
Once chilled, pour the ice cream base through a strainer into a bowl. Then add to ice cream machine and follow the manufacturer's instructions.
Add to a container and freeze for at least 2 hours or until desired hardness is achieved.
