1. In a medium saucepan, heat milk, vanilla bean, and scrapings. Bring to a gentle boil, cover, and remove from heat. Steep for 30 minutes.
2. Combine egg yolks and sugar in a bowl and beat at medium-high speed with a hand mixer. Until very thick and pale yellow, 3 to 5 minutes. Meanwhile, return milk to a simmer.
3. Remove vanilla bean. Add a quarter of the milk to egg-yolk mixture and whisk until blended. Stir egg-yolk mixture into remaining milk and cook over low heat, stirring constantly, until mixture is thick enough to coat the back of a spoon.
4. Remove from heat and immediately stir in cream. Place mixture into a medium bowl, set over an ice bath so it begins to chill. Stir in vanilla extract, then freeze in an ice-cream maker according to manufacturerÂ’s instructions.