Add milk powder to a skillet and place over medium-low heat. Stir constantly until golden brown.
Remove from heat and transfer to a bowl. Set aside.
Prepare Ice Cream
In a medium bowl, whisk together egg yolks and sugar until light and fluffy. Set aside.
Add milk, cream, vanilla, salt, and toasted milk powder to a pot. Place over medium heat, stirring frequently, until warm and beginning to steam.
Slowly pour some of the warm milk mixture into the egg yolk mixture, while whisking constantly, to temper the egg yolks. Continue until all of the milk has been added.
Pour the mixture back into the pot and cook over medium heat, stirring constantly. Cook until the mixture thickens and coats the back of a spoon.
Pour the mixture into a heat-safe container. Cover and let cool slightly at room temperature for 20 minutes. Then, place in the fridge and chill overnight, or until completely cold.
Churn ice cream according to manufacturer's instructions until it reaches a soft-serve consistency (about 20 minutes). Transfer to a freezer-safe container and freeze for 2-4 hours until firm and scoopable.
Notes
Prepare Your Ice Cream Machine - If your ice cream machine has a bowl that needs to be frozen, remember to freeze it in advance so it's ready when you need it. I like to freeze it for at least 24 hours to ensure it's fully frozen before using.Toasting the Milk Powder - constantly stir the milk powder as it toasts. It can switch from golden brown to burnt quickly, so keep a close eye on it and stir continuously. Remove from heat as soon as it's golden brown and transfer to a bowl to stop the cooking process.Tempering the Egg Yolks - This step is important because it allows the eggs to heat up slowly, so they don't curdle and cause little egg lumps in your ice cream mixture.Cooking the Ice Cream - When cooking the ice cream, you'll know it's done when it coats the back of a spoon. If you want to use a thermometer, it should reach this point around 170℉.Chilling the Mixture - I prefer to chill the ice cream base overnight to ensure it's fully cold and allow everything to meld together. If you don't want to wait that long to churn your ice cream, you can move on to the churning step once the ice cream base is fully cold.Serving - If the ice cream has been in the freezer for an extended period of time, you may want to let it sit out on the counter for a few minutes to allow it to soften slightly before scooping.Churning without an Ice Cream Machine - If you don't have an ice cream machine, I show an alternate method for churning ice cream here (https://brooksidekitchen.com/how-to-make-ice-cream-without-a-machine/).