Pre-freeze the canister of your ice cream maker for at least 2 hours or overnight.
Split the vanilla pods lengthways with a sharp knife. Scrape out the seeds.
Pour the cream and almond milk into a saucepan. Add the vanilla seeds and the scraped pods and bring to a low boil. When you see the edges start to bubble remove from the heat and allow to cool for about 30 minutes. Stir regularly so it doesn’t form a skin. Remove the vanilla pods.
Meanwhile, put the egg yolks in a mixing bowl. Add the erythritol and a tiny pinch of salt. Using an electric whisk, beat until pale in colour (about 2 minutes).
Slowly whisk into the cooled cream mix into the beaten eggs using a hand balloon whisk. Then pour back into your pan. Heat on low and stir regularly for about 8 -10 minutes until it thickens. Do not boil. At the first sign of bubbles, remove from the heat. Pour into a bowl, cover with cling film and allow to cool for about an hour at room temperature.
Transfer to the fridge and chill for at least 2 hours (or overnight). Churn as per the manufacturer’s instructions on your ice cream maker. Mine took about 20 minutes. For a soft serve you can enjoy straight away.
For a scoop-able ice cream, pour into a loaf pan, cover with cling film and freeze for 1- 2 hours, or until fully set.