How do you make baskin robbins lemon custard ice cream?

To make Baskin Robbins-style lemon custard ice cream, start by preparing a custard base using egg yolks, sugar, and heated milk or cream, whisking until it thickens. Once thickened, remove from heat and stir in fresh lemon juice, lemon zest, and a pinch of salt for flavor. Chill the mixture thoroughly before churning it in an ice cream maker until it reaches a soft-serve consistency. Finally, transfer the ice cream to a container and freeze until firm.