Combine the milk, heavy whipping cream, half the sugar, salt, and vanilla in a saucepan and bring to a boil over medium heat, whisking intermittently.
While heating, combine the egg yolks and the other half of sugar in a bowl and whisk to combine.
When the milk mixture has come to a boil, pour ⅓ of it into the egg mixture and stir. Then pour another ⅓ and stir, and then the final ⅓ and stir.
Next, pour the entire mixture back into the saucepan and heat, stirring constantly for 2 minutes, but do not let it come to a boil.
Then transfer the mixture to a new bowl, allow to come to room temperature, and then refrigerate for 1-2 hours.
After mixture is chilled, follow the manufacturer's instructions on your ice cream maker to make the ice cream.
While ice cream is churning, heat your frozen churros and chop them into ½ inch pieces to add into the ice cream during its last 3-5 minutes of churning.
Then transfer ice cream to a freezer safe container for storing.
When serving, top with extra churro pieces or cinnamon sugar as garnish.
Enjoy!
Recipe by Salty Canary at https://www.saltycanary.com/churro-ice-cream-churro-bowls/