Combine all ingredients in a medium-sized saucepan. Place the saucepan over medium-low heat, whisking frequently, until a custard forms on a spoon and a finger swiped across the back leaves a clean line, you want a custard consistency and to ensure the yolks are cooked to 75C.

Pour into moulds and place in the freezer for at least four hours, for best results, freeze overnight. Alternatively, pour into a freezer-proof bowl, cover tightly with plastic wrap and freeze until frozen, before scooping into waffle.