Heat the milk, salt and sugar in a saucepan. Scrape the seeds from the vanilla bean into the milk with a paring knife, then add the bean pod to the milk. Cover, remove from heat and steep for one hour.
Set up an ice bath by placing a 2-quart bowl in a larger bowl partially filled with ice and water. Set a strainer on top of the smaller bowl and pour the cream into the bowl.
In a seperate bowl, whisk the egg yolks. Gradually pour some of the milk into the yolks, whisking constantly as you pour. Scrape the yolks and milk back into the saucepan and cook over LOW heat, stirring constantly and scraping the bottom with a heat-resistant spatula, until the custard thickens enough to coat the spatula.
Strain the custard into the heavy cream, stir over the ice until cool, then refrigerate to chill thoroughly. Approximately 2 hours or overnight.
Remove the vanilla bean and freeze the custard in your ice cream maker according to the manufacturer's instructions.
Store in an airtight container and hide in the back of your freezer so you don't have to share!