1. Warm the cream in a heavy saucepan and add the mint. Leave the mixture to infuse for about an hour. Strain the mint and discard, reserving the cream.
2. Return the pan to the stove, and heat on low. Add sugar and beaten egg yolks, stirring continuously.
3. Cook the cream and yolk mixture over low heat until the mixture thickens to coat the back of a spoon, about 5 minutes.
4. Immediately remove the mixture from the heat, pour into a bowl and add milk to cool the mixture.
5. Refrigerate the mixture overnight to cool it completely (or at least 4 hours), and then freeze in an ice cream maker.
6. Pour into a storage container and freeze until completely firm.
Notes
To make fresh mint ice cream without an ice cream maker, simply place the ice cream batter into a KitchenAid mixer bowl (or other stand mixer bowl) and place it in the freezer. Allow it to freeze for 2-3 hours, then take it out and beat it with the paddle. Repeat again in another 2-3 hours.After the second beating, scoop the mixture to a freezer safe container and freeze until solid.