Remove and discard bean pod. Stir the powdered milk into the vanilla milk and keep warm over low heat.
Place egg yolks and sugar into a medium bowl. Whisk until thick and pale yellow (or use a mixer, either hand or stand.) While still whisking or mixing slowly add 2 cups of the milk to the egg mixture. Stir back into the hot milk that remains in the saucepan. Increase heat to medium.
Stir constantly until the mixture reaches a custard-like consistency and coats the back of a spoon. The temperature of the mixture should be 180 degrees on a candy or instant-read thermometer.
Strain through a fine mesh sieve into a large bowl. Stir in cream, lay plastic wrap directly on the surface and chill for at least 6 hours prior to finishing.
Freeze according to instructions from your machine's manufacturer. Mine requires about 25-30 minutes of freezing.
The ice cream will be soft-set when done. You may transfer to an airtight container and place in the freezer for about 2 hours if you desire a firmer consistency. Remove from the freezer and allow to soften for about 5 minutes before serving.
You can read more of Rebecca Lindamood's recipes, kitchen tips and parenting adventures at www.foodiewithfamily.com.