Vanilla Bean Ice Cream with Burnt Almond Caramel Sauce

• 4 cups whole milk
• Two 3-inch pieces vanilla bean, split lengthwise

In a medium saucepan, combine the milk and vanilla beans over medium heat until the milk just begins to simmer. In a medium bowl, beat the egg yolks with the sugar until light and thick. Slowly, in a thin stream, whisk the hot milk into the egg mixture. Return to the saucepan and heat gently over medium heat until the mixture just begins to thicken (180°F).

Remove the mixture at once fr