Add milk, cream, milk powder, sugar, salt and spices to a medium saucepan and heat on medium-high, stirring constantly, until milk is simmering.
Remove liquid from the heat and allow to cool then add to an airtight container and place in the fridge over night to allow flavours to infuse.
The next day, strain the liquid into a saucepan and cook on medium heat until simmering.
Meanwhile whisk yolks until light in colour then slowly pour 1 cup of the milk into the yolks while whisking.
Pour egg mixture back into the milk whilst stirring constantly.
Continue cooking until the liquid coats the back of a spoon. Don't allow it to boil.
Remove from heat, stir in vanilla, then allow to cool. Strain into an airtight container and place in fridge at least 3 hours.
Churn as per manufacturers instructions then pour into container and freeze for 3 hours or until hardened.