Prepare the Pecans:

In a pan, melt butter and brown sugar over medium heat.

Add pecans and stir until coated and slightly caramelized.

Remove from heat and let cool.

Make the Ice Cream Base:

Heat milk, sugar, and salt in a saucepan over low heat until warm.

In a separate bowl, whisk egg yolks. Slowly pour the warm milk into the yolks, whisking constantly.

Return the mixture to the saucepan and cook until it thickens.

Remove from heat, add vanilla extract, and let it cool completely.

Churn or No-Churn Method:

With an Ice Cream Maker: Pour the cooled mixture into an ice cream maker and churn until thick. Fold in caramelized pecans. Freeze for 4-6 hours.

No-Churn Method: Whip the heavy cream until soft peaks form. Fold in sweetened condensed milk and vanilla, then mix in caramelized pecans. Freeze for 6 hours.

Serve & Enjoy:

Let the ice cream sit for a few minutes before scooping for the best texture. Enjoy!