Homemade icecream without condensed milk

In a bowl whip the egg yolks and sugar till soft peaks form

Add the warm milk and whip under medium heat until it thickens

Sieve the mixture into another bowl and allow to cool

Whip the whip cream till it forms soft peaks

Add the cooled mixture folding into the whip cream add desired essence n color

Freeze for at least 4 hours

Serve with desired topping