Slit the vanilla pod lengthways and scrape out the pulp. Wash and dry the rosemary.
Bring the milk with the cream, sugar, vanilla pulp, vanilla pod and rosemary to the boil. Remove from heat and let steep for a few hours - preferably overnight.
Bring the cream mixture to the boil again and remove the rosemary and the vanilla pod. Mix the eggs and yolks in a bowl with the whisk until foamy and then slowly pour the boiling liquid into the egg mixture while stirring.
Put the cream-egg mixture back into the saucepan, warm it up (do not boil !!!) and peel it off to the rose (that means the liquid has the right consistency if a rose forms on the back of the spoon when the spoon is dipped in). Watch out, it`s very quick!
Let the cream and egg mixture cool, pour through a fine sieve and freeze in the ice cream maker to a creamy ice cream.