Set a sieve or strainer over a clean bowl and set aside.
Put the milk and half of the sugar in a large saucepan set over medium-low heat. I use a 3 quart All-Clad.
Meanwhile, in a mixing bowl (I like using a mixing bowl with a spout), whisk the remaining sugar, the six egg yolks, and the salt.
When the milk mixture comes to a simmer, carefully pour a few tablespoons at a time into the egg mixture, whisking all the while. Pour the the egg/milk mixture back into the saucepan and continue whisking over medium low heat, raising heat slightly as necessary, until mixture reaches 160 degrees on a thermometer. It won't be as thick as pudding at this point. Pour through the sieve into the clean bowl. Whisk in the 2 cups of cream and the vanilla.
Cover with a piece of plastic wrap and put in the refrigerator for about 4 hours or until very cold. Process as per the directions on your ice cream maker.
Makes about 3 1/2 cups.