In a large bowl, add milk, cream, and chopped coffee beans. Cover with plastic wrap and place in the fridge over night.
Add sugar to the coffee bean and milk mixture. Place it in a medium saucepan over medium heat. Cut the vanilla bean in half and run the dull side of your knife down the insides of the bean. Put the scrapings in the cream mixture and the cut open vanilla pod also.
Bring the milk up to almost a boil. Once small bubbles form around the edge of the saucepan, the cream mixture is ready.
In a separate medium bowl, whisk the egg yolks.
Add 1 cup of the hot cream mixture into the egg yolks and whisk until combined.
Pour the yolk mixture into the saucepan with the rest of the cream mixture.
Reheat the mixture until the cream thickens and coats the back of a wooden spoon. Remove from the heat and let cool for about 30 minutes.
Strain the mixture to remove the chopped coffee beans and vanilla bean pod.
Place in a large bowl and cover with plastic wrap. Place in the fridge for an hour or cool in an ice bath. I place mine in the fridge over night.
Place in the ice cream maker for the recommended time required by your ice cream maker. Mine recommends no longer than 20 minutes.
Place in a freezer safe container and freeze for 2 hours or until very firm. Scoop and serve!