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 manufacturer's directions.
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