In a medium saucepan, whisk together milk, sugar, egg yolks, and pinch of salt. Place pan on medium-high heat, and whisk until mixture comes to a simmer. Lower heat to medium and whisk 5 minutes, or until mixture begins to thicken. Strain mixture into large bowl, then add semisweet chips, stir until melted and fully incorporated. Whisk in half and half, cream and vanilla. Cover with plastic wrap and refrigerate 2 hours or until chilled.
Pour mixture into ice cream maker and process according to manufacturer's instructions.