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In a large bowl, combine yolks, sugar and coconut milks and whisk to combine.
Transfer to a medium pot and cook over medium heat, stirring constantly, until just thickened and mixture coats the back of a spoon, 8 to 10 minutes. Be sure not to let the mixture boil.
Remove pot from the heat and stir in vanilla.
Transfer contents of pot to a bowl and chill until cold.
Process mixture in an ice cream maker according to manufacturer's instructions then transfer to a container with a lid and freeze until firm, about 2 hours more.