Lightly whisk egg yolks in a bowl. Gently heat milk in a small saucepan over medium heat and pour over the eggs. Stir well to combine, then set aside.
Place sugar and 2 tablespoons cold water in a saucepan over low heat and stir to dissolve sugar. Increase heat to medium and cook until mixture begins to turn a rich golden colour. Add vanilla bean and cook for a few seconds (don't let the mixture get too dark or the ice-cream will be very bitter).
Very carefully pour in the cream (it will splatter quite a lot at this stage). Reduce heat to low and stir to melt the lumps of caramel that have formed. When it is smooth, stir in the egg mixture. Continue to cook, stirring constantly, until the mixture thickens.
Strain through a sieve to remove any lumps of caramel. Pour into a shallow container and freeze until frozen at the edges. Remove from freezer and beat with an electric beater. Pour back into the container and refreeze. Repeat 2 or 3 times. (Alternatively churn in an ice-cream machine following manufacturer's instructions.)
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