In a blender, combine the chopped dates and whole milk. Blend until smooth, about 3-4 minutes.

Pour the date-milk mixture into a saucepan. Add the vanilla extract and warm over medium heat until it just begins to simmer. Stir occasionally to prevent sticking.

In a mixing bowl, whisk the egg yolks until they become pale and slightly thickened.

Slowly pour the warmed milk mixture into the egg yolks, whisking constantly to prevent curdling.

Return the combined mixture to the saucepan and cook over low heat, stirring constantly, until it thickens enough to coat the back of a spoon.

Remove from heat and let the mixture cool to room temperature. Then, refrigerate until thoroughly chilled, at least 4 hours or overnight.

Once chilled, pour the mixture into an ice cream maker and churn according to the manufacturer's instructions, usually about 20-25 minutes, until it reaches a soft-serve consistency.

Transfer the churned ice cream into a lidded container and freeze for at least 2 hours to firm up before serving.