Whip the cream until almost stiff and put in the fridge.
Beat the egg yolks with the sugar until slightly frothy, then slowly add the milk, whisking continuously. Mix in the almost stiffly whipped cream and finally add the vanilla essence and mix again until everything is well mixed. Put the mixture into the ice cream machine and let it run for 40 minutes until it has a smooth texture.
Tips
Place the ice cream in the freezer for half an hour before serving.