In a medium bowl, beat egg yolks with the remaining sugar with hand mixer until thick and pale yellow.

In a saucepan, combine milk, and half of the sugar over low heat, cook until the sugar is dissolved. Turn off the heat. Pour half of the milk mixture into the egg mixture and stir until well combined. Then add the egg mixture to a saucepan then cook over low heat. Stirring constantly until the mixture is thickened enough to coat the back of a wooden spoon.

Pour heavy cream to a bowl, then place a strainer over the bowl and pour the warm custard. Add in vanilla extract and stir until well combined.

Turn on the ice cream maker, then pour in the mixture and churn according to your manufacturer’s instructions. Once the mixture is almost done add crushed oreo and churn again for 2 minutes.

Transfer the ice cream to a loaf pan, then press plastic wrap to the surface of the ice cream and freeze for six hours. Serve and enjoy!