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1
Rub hazelnuts in a kitchen towel to remove as much of the papery skin as possible; then finely chop them in a food processor or blender; set aside.
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2
In a saucepan, warm the milk with 1 cup cream, sugar, and salt.
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3
Once warm, remove from heat and add in chopped hazelnuts; cover and let steep at room temperature for 1 hour.
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4
Put milk chocolate pieces in a big bowl.
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5
Heat the remaining 1 cup cream in a saucepan until it just begins to boil; pour it over the milk chocolate pieces and stir until the chocolate is completely melted and smooth; set a mesh strainer over the top and set aside.
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6
Pour the hazelnut-infused milk through a strainer into a medium saucepan, squeezing the nuts firmly with your hands to extract as much of the flavorful liquid as possible; discard the hazelnuts.
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7
Rewarm the hazelnut-infused mixture.
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8
In a separate bowl, whisk the egg yolks; slowly pour the warm hazelnut mixture into the egg yolks, whisking constantly, then scrape the warmed egg yolks back into the saucepan.
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9
Stir the mixture constantly over medium heat with a heatproof spatula, scraping the bottom as you stir, until the mixture thickens and coats the spatula.
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10
Pour the custard through the strainer and stir it into the milk chocolate mixture; add the vanilla and stir until cool over an ice bath.
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11
Chill the mixture thoroughly in the refrigerator, then freeze in your ice cream maker according to manufacturers directions.
