1. To make the ice cream, beat the egg yolks and sugar together in a bowl with a pinch of salt. Heat the milk on the stove with the vanilla to scalding point. Pour the hot milk onto the egg mixture, whisking continuously.
2. Return to a low heat and cook gently, continuing to stir until the mixture thickens. Strain through a sieve and leave the custard to cool before placing in the fridge to chill for 20 minutes.
3. Gently whisk in the olive oil and cream and return to the fridge to chill for another 10 minutes before pouring into the ice cream machine and churning until smooth and thick. Make sure not to over-churn the mixture as it will make the ice cream grainy. Remove from the machine and store in the freezer to firm up.