In a medium saucepan, I combine 1 cup whole milk, 2 cups heavy cream, ⅜ cup (75g) sugar, 2 pinches salt, and 1½ tsp vanilla extract. I whisk over medium heat until it just reaches a boil, then remove from heat.

In a medium bowl, I whisk 5 egg yolks with the remaining ⅜ cup (75g) sugar until pale and smooth, about 1–2 minutes.

I slowly pour one-third of the hot milk mixture into the yolk mixture, whisking constantly to temper. I repeat with the remaining thirds, then return the mixture to the saucepan. Over medium-low heat, I stir continuously with a spatula for 2–3 minutes until thickened, ensuring it doesn’t boil.

I transfer the custard to a bowl, cool to room temperature, then refrigerate for 1–2 hours until fully chilled.

I toast 2 cups mini marshmallows on a baking sheet under a broiler for 1–2 minutes until golden, then cool completely. I break 6 graham crackers into small pieces and chop 1 milk chocolate bar into chunks.

I pour the chilled custard into an ice cream maker and churn per manufacturer’s instructions (20–30 minutes). In the last 3 minutes, I add the toasted marshmallows, graham crackers, and chocolate chunks for even distribution.

I transfer the churned S’mores Ice Cream to a freezer-safe container, drizzling ½ cup marshmallow spread and ½ cup warm chocolate fudge between layers for extra flavor, if using. I freeze for 4–6 hours until firm.

I let the S’mores Ice Cream soften at room temperature for 5–10 minutes, then scoop and garnish with extra toasted marshmallows or fudge, if desired.