For caramelized sugar put 2 c. milk in a small saucepan and bring to a simmer over low heat. Cover and keep warm while caramelizing the sugar. Place the sugar in a large, heavy saucepan with high sides over medium heat. Stir with a whisk or wooden spoon until the sugar dissolves. Continue to cook without stirring until the sugar turns golden brown. Immediately remove the pot from the heat. Very carefully and slowly add the warmed milk, stirring constantly. Only add a little at a time to control the fizz. The mixture will rise, foam and splatter. The sugar may also harden into a lump on the bottom of the pan. Return the pan to medium heat and stir until the caramel has dissolved into the milk. Keep warm over low heat. For custard, mix together cornstarch, salt and milk. Stir until smooth, then beat into the egg yolks in a medium bowl. Slowly beat the hot milk and sugar into the egg yolk mixture. Pour the entire mixture back into the pan and place over medium heat. Stir constantly with a whisk until custard thickens slightly. Be careful not to let the mixture boil or the eggs will scramble. Remove from the heat and pour the hot burnt sugar custard through a strainer into a large, clean bowl. Allow the custard to cool slightly, then stir in cream and vanilla. Cover and refrigerate until cold or overnight. Stir the chilled custard, then freeze in your ice cream machine. This makes 1 quart, so plan accordingly if you want more. When finished, the ice cream will be soft but ready to eat. For firmer ice cream, transfer to a freezer-safe container and freeze at least 2 hours.