Combine milk, sugar and salt in 3-quart saucepan. Cook over medium heat, stirring constantly, 6-11 minutes or until sugar is dissolved.

Beat eggs in bowl until light and lemon-colored.

Gradually whisk small amount of hot milk mixture into beaten eggs.

Slowly pour egg mixture into remaining milk mixture in saucepan, whisking constantly.

Reduce heat to low. Cook, stirring constantly, 8-11 minutes or until milk mixture reaches 175°F to 180°F and is thick enough to coat back of metal spoon (do not boil).

Whisk in whipping cream and vanilla. Pour into clean bowl. Cover; refrigerate overnight.

Freeze in ice cream maker according to the manufacturer’s instructions until desired consistency.

Serve immediately or store frozen in freezer container with tight-fitting lid.