Meanwhile, in a bowl, whisk the egg yolks with the granulated sugar until thick and pale. Whisk in half of the warm milk, then whisk in the remaining milk. Return the mixture to the saucepan and cook, stirring frequently, until the custard thickens slightly and coats the back of a spoon, 8 to 10 minutes. Stir in the cream. Strain the custard into a bowl and chill thoroughly. Transfer to an ice cream maker and freeze according to the manufacturer's instructions.