Diabetic-friendly Homemade Ice Cream

Combine evaporated milk, whole milk, sugar replacement, and vanilla extract in a medium saucepan over medium heat, stirring occasionally until the mixture is warm but not boiling (about 3-4 minutes).

Pour a small amount of the warm milk mixture into the beaten eggs while stirring constantly to temper them, then slowly pour the egg mixture back into the saucepan while whisking continuously to prevent scrambling.

Continue cooking over medium heat, stirring constantly until the mixture reaches 160°F (71°C) on a food thermometer or until it coats the back of a spoon without dripping.

Remove the custard from heat and let it cool to room temperature, stirring occasionally (about 5-10 minutes).

Transfer the cooled custard to an ice cream maker and churn according to the manufacturer's instructions until the mixture reaches a soft-serve consistency.

Serve immediately for soft-serve style ice cream, or transfer to a freezer-safe container and freeze for 2-3 hours for a firmer texture.