Combine sugar and egg yolks in a mixer. Whisk until mixture is white. Boil the milk, and pour over egg yolk mixture while stirring continuously.
Transfer to a saucepan, and slowly heat to thicken while stirring with a wooden spoon and scraping the bottom of saucepan. Do not boil. Strain ice cream mixture into a bowl. Add remaining ingredients, and cool.
Pour into an ice cream maker, and freeze.