Put the Freeze Bowl in your freezer for at least 15 hours. The Freeze Bowl is the rounded plastic bowl into which you'll later be mixing your ice cream. Make sure your freezer is at its coldest setting.
Pour the milk into a saucepan and heat it to just below boiling.
Mix the egg yolks and the sugar in the mixing bowl until thick.
Stir the heated milk into the mixing bowl. Pour the contents of the mixing bowl back into the saucepan and heat the mixture, being careful not to let it boil.
Pour the heated mixture of milk, egg yolks and sugar back into the mixing bowl. Set the batter aside to cool.
Stir the vanilla extract and heavy cream into the batter once it has thoroughly cooled.
Remove the Freeze Bowl from the freezer and attach it to your KitchenAid mixer. Set the mixer to "Stir" and then pour the batter into the mixing bowl. Mix for 20 to 30 minutes.
Transfer your ice cream from the Freeze Bowl to an air-tight container and store it in the freezer. You can eat your ice cream at any time.