In a medium saucepan over medium heat, combine milk, heavy cream, and maple syrup. Stir continually and bring to a gentle simmer for about 5 minutes.

In a mixing bowl, beat cream cheese, egg yolks, and vanilla together until pale yellow and thickened for 2-3 minutes.

Gradually whisk in about ½ cup of the warm milk mixture into the egg and cream cheese blend to temper the eggs.

Return the tempered mixture to the saucepan with the remaining milk. Whisk constantly over medium heat for 4-5 minutes until thick.

Pour the custard into a heatproof bowl and cover with plastic wrap, cooling at room temperature then refrigerating for at least 4 hours.

Pour the chilled custard into an ice cream maker and churn for 20-30 minutes until thick. Alternatively, freeze and stir every hour.

Transfer the ice cream to an airtight container and freeze for at least 4 hours or until firm. Allow to soften for 10 minutes before serving.