Warm milk and cream in a medium saucepan until foam forms around the edges. Remove from heat.

In a large bowl, beat egg yolks and sugar until frothy.

Gradually whisk the warm milk into the egg yolk mixture.

Return the mixture to the saucepan and cook over medium heat, stirring with a wooden spoon until it thickens and coats the back of the spoon.

Strain the mixture through a sieve into a bowl. Cover and chill for several hours or overnight.

Pour the chilled mixture into an ice cream maker and freeze according to the manufacturer's instructions.

Transfer the gelato to a sealed container and freeze until firm. If too firm, soften in the refrigerator before serving.