In a medium saucepan set over medium-low heat, whisk together the milk, cream, half of the sugar, salt and the scraped vanilla bean (including the pod). Bring the mixture just to a boil.
While the milk/cream mixture is heating, combine the yolks and remaining sugar in a medium bowl. Using a hand mixer on low speed or whisk, beat until mixture is pale and thick.
Once the milk/cream mixture has come to a slight boil, whisk about ¹∕³ of the hot mixture into the yolk/sugar mixture. Add another ¹∕³ of the mixture, then return the combined mixture to the saucepan.
Using a wooden spoon, stir the mixture constantly over low heat until it thickens slightly and coats the back of the spoon. This mixture must NOT boil or the yolks will overcook – the process should only take a few minutes.
Pour the mixture through a fine mesh strainer (discard the vanilla pod) and bring to room temperature. When at room temperature, Stir in the vanilla. Cover and refrigerate at least 2 hours, or overnight.
Whisk mixture to combine mixture, and turn unit on, and slowly pour the mixture into the mixing bowl of the ice cream maker. Mix until thickened, about 20-30 minutes. The ice cream will have a soft, creamy texture.
If adding chocolate chips or other ingredients, mix it for the last 30 seconds.
Transfer to an airtight container and place in freezer for at least 3 hours.