Use sharp knife to split vanilla bean lengthwise and scrape out the "seeds." Stir both into the milk/cream mixture.
Bring mixture to slow boil over medium heat, reduce heat to low, simmer for 30 minutes, stirring occasionally.
Combine eggs, egg yolks, and sugar in a medium bowl. Use a hand mixer on medium speed to beat until the mixture is thick, smooth, and pale yellow in color (similar to mayonnaise), about 2 minutes.
Remove vanilla bean pod from the milk/cream mixture and discard.
Measure out 1 cup of the hot liquid.
With mixer on low speed, add the cup of hot milk/cream to the egg mixture in a slow, steady stream.
When thoroughly combined, pour the egg mixture back into the saucepan with the rest of the milk/cream mixture and stir to combine. Cook, stirring constantly, over medium-low heat until the mixture is thick enough to coat the back of a spoon.
Transfer to a bowl, stir in vanilla, cover with a sheet of plastic wrap placed directly on the custard, and chill completely.
Pour the chilled custard into the freezer bowl, turn the machine on and let mix until thickened, about 25 to 30 minutes. The ice cream will have a soft, creamy texture.
If a firmer consistency is desired, transfer the ice cream to an airtight container and place in freezer for about 2 hours. Remove from freezer about 15 minutes before serving.