In microwave, heat milk at high power for 45 seconds. Make sure it’s hot, but do NOT boil.

In a small sauce pan, whisk together sugar, egg yolks, and salt. While whisking vigorously, slowly drizzle in hot milk, and continue to whisk until completely incorporated. Add half and half, and place over medium heat. Whisk constantly until mixture begins to boil. Remove from heat, and add sweetened condensed milk, vanilla, and cream. Whisk completely.

Cover mixture and refrigerate at least 2 hours.

Churn mixture in ice cream maker according to manufacturer’s instructions. Enjoy it immediately, or transfer to an airtight freezer container, and allow to harden in the freezer.