Chop the milk chocolate into smaller pieces and put them in a bowl.

Pour the cream into the bowl with the chocolate and place the bowl over a pot of simmering water. Stir the mixture until the chocolate is completely melted.

Remove the bowl from the heat once the chocolate is melted.

Slice the vanilla pod lengthwise and scrape out the vanilla seeds.

Whisk the vanilla seeds together with the sugar and egg yolks in a bowl until the mixture is light and airy.

Slowly pour the melted chocolate mixture into the egg mixture, whisking constantly.

Gradually add the whole milk, continuing to whisk until all the milk is added and the mixture is smooth.

Pour the chocolate mixture into an ice cream maker and follow the ice cream maker's instructions until the ice cream reaches the desired consistency.

Transfer the ice cream to a freezer-safe container and cover with a lid. Place the ice cream in the freezer.

Enjoy your homemade milk chocolate ice cream when it is fully frozen!