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Combine the milk, heavy cream, vanilla bean pod, and vanilla seeds in a medium saucepan over medium heat. Warm until steam rises and small bubbles form around the edges, about 5 minutes — do not boil. Remove from heat and let steep for 10 minutes.
Whisk the egg yolks, sugar, and salt together in a large bowl until the mixture is pale yellow and falls from the whisk in a thick ribbon, about 2 minutes.
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