Combine the cream, whole milk, and vanilla beans into medium pot. Start to heat mixture over low heat.
Whisk the sugar and egg yolks together in a small bowl until fully combined.
When the cream mixture reaches 95 degrees or feels warm to the touch, remove from the heat. Carefully, add ¼ of the cream mixture into the yolks, whisking constantly until blended. Do not add all of cream mixture at once to the eggs. You want to slowly add heated cream a little at a time to temper the yolks. Whisk the tempered yolks into remaining warmed cream mixture. Return pot to medium low heat.
Cook the ice cream base over medium low heat until it reaches 185 degrees or is thick enough to coat the back of a spoon.
Remove from heat. Remove vanilla bean pods and scrape vanilla beans into ice cream or add pure vanilla extract. Pour ice cream mixture into bowl to cool.
Fill a large bowl with ice. Place the container of ice cream in the ice bath. Stir often and let cool.
When the ice cream base has cooled, pour into ice cream machine and churn according to manufacturer's instructions.
When finished churning, serve immediately for soft-serve, or transfer to airtight container. For a more firm ice cream, allow ice cream to harden in freezer for 30 minutes to 1 hour.