Heat milk and cream in a non-stick pan and bring the mixture to a boil.
Separate egg yolks from egg whites. Add vanilla essence and castor sugar to yolks and whisk till well incorporated.
Add some boiled milk-cream mixture to egg mixture and whisk. Add remaining milk-cream mixture gradually and whisk well.
Transfer the mixture into same non-stick pan, place on heat, stir continuously and cook the mixture on low heat till it thickens.
Strain the mixture into another bowl and cool. Transfer into an air-tight container, cover and set in the freezer for 3-4 hours.
Transfer ice cream into an electric food processor and blend to a smooth mixture. Add broken cookies, discard the blade from the processor and mix well.
Transfer the ice cream mixture back into the same air-tight container and set in the freezer for 8-10 hours.