Heat milk, cream, and sugar in a saucepan over a medium-high heat until simmering then remove from heat.
Whisk yolks in a bowl until pale then slowly pour in 1 cup of the hot milk, all the while whisking.
Slowly pour the yolks back into the saucepan of milk and whisk until combined then add salt, vanilla essence, scraped vanilla bean, and vanilla pod. Continue heating on medium heat until liquid thickens (about 3 minutes).
Pour liquid into an airtight container and add to the fridge for 3 hours (or overnight).
The next day, pour the custard base through a strainer and add to ice cream maker. Churn in ice cream maker according to manufacturer's instructions.
Once churned, add to an airtight container and freeze for at least 3 hours.
