Put milk, garlic and vanilla in a saucepan. Bring to a boil and remove from heat.

 

In mixing bowl, blend cream, sugar and egg yolks. Strain the scalded milk mixture into the egg and sugar mixture, stirring constantly.

 

Return the combined mixture to the pan and stir continuously over moderate heat until it coats the back of a spoon, about 10-15 minutes.

 

Place in an ice bath. Add cream mixture. Freeze until firm.