Combine all ingredients (including the bean and its pulp) in a large saucepan and place over medium heat. Bring the mixture just barely to a simmer. As soon as you see a bubble hit the surface, remove it from the heat (do not let it boil) and allow to cool slightly. Remove the hull of the vanilla bean, pour mixture into lidded container and refrigerate mixture overnight to mellow flavors and texture.
Mix ice cream in ice cream maker* according to unit's instructions. The mixture will not freeze hard in the machine. Once the volume has increased by 1/2 to 3/4 times, and reached a soft serve consistency, spoon the mixture back into a lidded container and harden in the freezer at least 1 hour before serving (we did ours overnight and it was perfect).