Combine 3 tablespoon milk and custard powder in a bowl to form lump-free mixture. Set aside.

Meanwhile heat 2 cups milk in a saucepan over medium-high heat. Bring to the boil. Add sugar. Stir to dissolve.

Gradually pour in custard powder mixture. Stir continuously to form lump-free custard. Bring mixture to a simmer over medium-high heat, stirring continuously, for 2 minutes or until the mixture turns thick. Stir in vanilla extract. Remove from heat. Set aside to cool completely.

Place cream in a bowl. Using an electric beater, whisk on high speed until medium to stiff peaks form, about 1 minute. Fold in cooled custard in batches.

Pour custard ice cream into a container. Cover with cling wrap. Make sure the wrap touches the top of the ice cream mixture. Freeze.

Decorate with your favorite toppings.