Warm the milk in a small saucepan until it begins to simmer. Turn off the heat and add the cereal. Let steep for 10 minutes.
Strain the cereal from the milk using a fine mesh sieve. Discard the mushy cereal.
Add all the ingredients to a blender. Blend until smooth.
Chill the ice cream base for at least 2 hours.
Transfer to an ice cream machine. Churn according to the manufacturer's instructions. Enjoy immediately as soft serve or transfer to a freezer container and freeze until firm enough to scoop.
Notes
Egg Yolks - If you are concerned about using raw egg yolks in ice cream you can purchase pasteurized eggs or temper the ice cream base.