Prepare your ice cream maker bowl by freezing it for 12 to 24 hours to ensure a creamy texture.

In a medium saucepan, whisk together 2 cups of milk, 1 cup of heavy cream, 1 cup of passion fruit pulp, and 1 tablespoon of vanilla paste. Heat until gently simmering.

In a heat-proof bowl, whisk 4 egg yolks and 3/4 cup of caster sugar until smooth and creamy, about 2 minutes.

Gradually pour the hot milk mixture into the egg yolks, stirring constantly. Return the mixture to the saucepan and heat over medium-low.

Cook the custard mixture for 5 to 10 minutes, stirring until it thickens and coats the back of a spoon. Strain if desired.

Transfer the thickened custard to a bowl and cover with plastic wrap. Chill in the refrigerator for at least 3 hours.

Churn the chilled custard in your ice cream maker according to the manufacturer's instructions for 15 to 20 minutes.

Transfer churned ice cream to an airtight container, smooth the top, seal, and freeze for at least 3 hours before serving.