- Whisk together milk, sugar, egg yolks, vanilla, cream, and cake mix in a saucepan until well blended. Cook over medium-low heat until mixture reaches 160 degrees F (70 degrees C), stirring frequently. Remove from heat and place in the refrigerator or freezer until liquid is cold.
- Pour the chilled mixture into an ice cream maker and freeze according to manufacturer's directions until it reaches "soft-serve" consistency. Transfer ice cream to a one- or two-quart lidded plastic container; cover surface with plastic wrap and seal. For best results, ice cream should ripen in the freezer for at least 2 hours or overnight.