M.A. Kitchen
Step 1: Whisk egg yolks, sugar, vanilla, and ¼ cup milk in a bowl.
Step 2: Heat remaining milk with mascarpone in a pot, mix until smooth.
Step 3: Slowly combine egg mixture with milk, whisking constantly.
Step 4: Cook on low for 5 mins, then cool to room temp.
Step 5: Strain, chill, churn in ice cream maker, freeze, and serve.