Heat the milk and cream: In a medium saucepan, combine whole milk, heavy cream, and granulated sugar. Heat over medium heat, stirring occasionally until sugar dissolves and mixture begins to steam. Do not allow to boil.

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

Temper the eggs: Slowly pour 1/2 cup of the warm milk mixture into the egg yolks, whisking constantly. Gradually add the egg mixture back into the saucepan with the remaining milk mixture, stirring continuously.

Cook the custard: Stir constantly over medium heat until it thickens enough to coat the back of a spoon (around 170-175°F). Avoid overheating to prevent curdling.

Strain the custard: Strain the custard through a fine mesh sieve into a clean bowl to remove cooked egg bits.

Add passion fruit and vanilla: Stir in passion fruit pulp, vanilla extract, and a pinch of salt. Let cool to room temperature.

Chill: Cover the custard and refrigerate for at least 4 hours or until chilled.

Churn the ice cream: Pour the chilled custard into an ice cream maker and churn according to the manufacturer’s instructions (about 20-25 minutes).

Freeze: Transfer churned ice cream into a container and freeze for 4 hours or overnight until fully set.

Serve: Scoop and enjoy on its own or with tropical fruit or passion fruit syrup.