Heat the milk and cream: In a medium saucepan, combine the milk and heavy cream. Heat over medium heat until it just begins to simmer, then remove from heat.

Whisk egg yolks and sugar: In a separate bowl, whisk the egg yolks and sugar together until pale and slightly thickened.

Temper the eggs: Slowly pour the hot milk mixture into the egg yolks while whisking constantly to prevent curdling.

Cook the custard: Return the mixture to the saucepan and cook over low heat, stirring constantly, until it thickens enough to coat the back of a spoon.

Add flavorings: Remove from heat and stir in the vanilla extract and a pinch of salt. Let the mixture cool to room temperature.

Chill and churn: Cover and refrigerate the mixture for at least 4 hours or overnight. Churn in an ice cream maker according to the manufacturer's instructions.

Freeze: Transfer the gelato to an airtight container and freeze for at least 2 hours before serving.