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Combine milk and cream in a medium-sized pan and heat slowly. Meanwhile, add sugar and a tablespoon of water to a saucepan. Don't stir, just let it simmer on medium-low heat until it starts to caramelize. Be careful, caramel is very very hot!
When the sugar has its brown colour, the caramel is ready. Stir the caramel into the milk and cream mixture using a whisk.
Place the yolks and 2 tablespoons of sugar in the stand mixer bowl and whisk it until the yolks become white. This will take about 4 to 5 minutes on high-speed. Carefully pour a little bit of the milk mixture into the yolks.
Keep on whisking, this way you'll prevent the yolks to create lumps. Pour the mixture back into the medium-sized pan en let it slowly simmer on low heat. Keep on stirring it slowly with a spatula.
After a few minutes, the mixture will be fully cooked and the yolks will do their thickening job. Draw a line on the spatula with your finger, when the line stays visible your mixture is ready. Cool the mixture completely and then pour it into the ice cream maker.
After about 40 minutes, depending on your ice cream maker, the ice cream is ready. Scoop into an airtight container and keep it in the freezer.
Caramel ice cream goes great with a lot of desserts or even coffee, but have you ever tried eating it with a banana lumpia?