Cut the vanilla pod open lengthwise and scrape out the pulp with the back of a knife. Bring milk, vanilla pulp and pod to the boil in a pot, remove from the heat and allow to cool slightly. Mix egg yolks and sugar until light creamy.
Slowly stir in half of the vanilla milk, then pour it back into the pot. Peel off the cream over low heat while stirring constantly to form a rose (cream thickens, but should not boil).
Pour the cream through a sieve into a bowl and allow to cool while stirring several times. Cover with foil and chill.