Put the milk to boil. Beat the eggs with the sugar and add the vanilla. Add the egg mixture to the milk mixture and stir until boiling and slightly thickened. Leave aside to cool, while occasionally stirring.
Transfer the finished mixture into a bowl and beat with a blender for a while to get air into the mixture. Put the ice cream in the freezer to set. Periodically, beat the mixture with a mixer to prevent it from forming large crystals and so that it remains homogeneous.
Serve with sweet cream, fruit or a topping of your choice.