In a medium saucepan, whisk together egg yolks, maple syrup, salt, and xanthan gum until well combined. Add heavy cream and milk. Whisk until well combined.
Cook over low-medium heat and whisking constantly until the mixture begins to thicken, thick enough to coat the back of a spoon. Do not boil or the custard will be overcooked and curdle.
Turn off the heat and stir in the vanilla extract.
Pour through a strainer and press the cling film directly onto the custard to cover and prevent skin from forming. Cool completely the mixture before refrigerating it for at least 4 hours or up to overnight.
Process the ice cream base in an ice cream maker according to the manufacturer's instructions.
Transfer the churned ice cream to a freezer container. Freeze for at least 4 hours before serving.