Add all of the ingredients to a pot (including the cob) except the egg yolks. Mix together over medium-low heat and bring to a simmer.
Add about 1/4 cup of the hot mixture to the egg yolks in a separate bowl. Whisk together quickly.
Slowly stir the egg yolk mixture into the pot and keep cooking over medium-low heat until it has thickened (about 5 minutes).
Transfer the mixture to a blender or use an immersion blender.
Push through a sieve into a large bowl.
Allow the mixture to cool completely, mixing it occasionally to release steam and prevent a film from forming at the top.
Once completely cool, cover with plastic wrap and put it in the fridge for at least 4 hours.
Pour the chilled ice cream mixture into your ice cream machine. Follow the directions provided by your ice cream machine brand- I use the 2 Qt Cuisineart Ice Cream Maker and it is usually done churning in 20 minutes.*This machine requires the drum to be frozen solid before using it.
You can eat the ice cream right away if you prefer more of a soft-serve texture. For more of an ice-cream texture, store in the freezer for a few hours. *Do not store the ice cream in the drum. You should remove all the ice cream from the drum and store it in a different container. I recommend something large and shallow.