1In 2-quart saucepan, stir egg yolks, sugar, milk and salt until well mixed. Cook just to boiling over medium heat, stirring constantly (do not boil).
2Pour milk mixture into chilled bowl. Refrigerate uncovered 2 to 3 hours, stirring occasionally, until room temperature. At this point, mixture can be refrigerated up to 24 hours before completing recipe if desired.
3Stir whipping cream and vanilla into milk mixture. Pour into 1-quart ice-cream freezer and freeze according to manufacturer's directions.