1Bring milk and vanilla bean to a simmer in a heavy, medium saucepan. Remove from heat and allow vanilla to steep in milk for 30 minutes. Scrape seeds from vanilla bean into milk and return to a simmer over medium heat.
2Meanwhile, place eggs in a medium bowl, and slowly add about 1/3 of the warm milk mixture, stirring constantly. Add remaining milk to eggs, then return entire egg-milk mixture to saucepan. Reduce heat to low and stir constantly with a whisk or wooden spoon until custard has thickened slightly, about 3 minutes. Be careful not to boil, or eggs will scramble. Remove from heat and pour hot mixture through a strainer into a large bowl. Allow to cool slightly, stirring occasionally. Add sweetened condensed milk and blend well. Cool completely; cover and refrigerate until cold, several hours or overnight.
3Remove cover. Stir and add to ice cream machine. Process according to manufacturer's instructions. During the final 5 minutes of churning, slowly add olive oil. When finished, ice cream will be soft but ready to eat. For firmer ice cream, freeze for several hours before serving. If desired, serve with a drizzle of olive oil.
Not just plain vanilla, this ice cream is as easy to make as it is unexpectedly delicious: Mixing olive oil into the recipe adds a subtle, savory contrast to the classic vanilla flavor, and a drizzle of the oil on top intensifies the taste.
You'll need an ice cream machine for this recipe.