In a medium saucepan, whisk together milk, sugar, egg yolks, and a 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 a large bowl, then whisk in half and half, cream, and extracts. Cover with plastic wrap and refrigerate 2 hours or until chilled.
Pour mixture into ice cream maker, process according to manufacturer's instructions. Once ice cream is made, stir in chocolate chips.