Split and scrape the vanilla beans if using. Combine milk, cream, 1 cup sugar, salt, and vanilla beans (or extract) in a saucepan. Heat until hot but not boiling.
Whisk egg yolks and remaining 1/4 cup sugar until pale and thick.
Temper the eggs by slowly adding hot milk mixture while whisking constantly.
Pour the mixture back into the saucepan and cook until it thickens and coats the back of a spoon.
Remove from heat, strain, and cool to room temperature. Refrigerate for at least 4 hours or overnight.
Pour the chilled custard into the ice cream maker and churn according to the manufacturer’s instructions. This typically takes about 20-25 minutes, or until the ice cream reaches a soft-serve consistency.
Once churned, transfer the ice cream to an airtight container. Smooth the top with a spatula.
Place the container in the freezer and let the ice cream harden for at least 4 hours, or until firm.
Scoop the Vanilla Bean Ice Cream into bowls or cones and enjoy the delightful flavor of this homemade treat.