In a large heavy saucepan, bring milk to a boil. Meanwhile, beat eggs; add sugar, cornstarch and salt. Mix well. Gradually add a small amount of hot milk; return all to the saucepan. Cook and stir constantly for 6-8 minutes or until mixture thickens and coats a spoon. Gradually stir in condensed milk and vanilla; mix well.

Chill for 3-4 hours. Pour into an ice cream freezer. Freeze according to manufacturers' directions. Yield: 1 1/2 quarts