Place milk into heavy saucepan and cook over medium heat until bubbles start to form around the edges of the pan (about 5 min.). Remove from heat. Stir in tea and set aside to allow to steep and cool, about 30 min. Strain milk through a fine-mesh sieve back into a heavy saucepan. Add cream and cook over medium heat until bubbles start to form around the edges of the pan. Meanwhile, combine egg yolks and sugar in a bowl and whisk until sugar dissolves. Gradually whisk about 1/2 c. of the hot milk mixture into the egg mixture until smooth. Return to saucepan and cook over medium heat, stirring constantly, until it coats the back of a wooden spoon. Do not allow to boil.

Allow to cool at least 2 hours. Pour into ice cream maker and freeze according to manufacturer's instructions.