Heat the milk, cream and maple syrup in a medium saucepan over medium heat until steaming. Meanwhile, place the cream cheese, egg yolks and vanilla in a mixing bowl and beat together until smooth (don’t worry if it’s a little lumpy). With the mixer running, pour about 1/2 cup of the hot milk mixture into the cream cheese mixture. Pour the cream cheese mixture into the remaining hot milk and whisk until thick, about 4-5 minutes. Pour into a large bowl and chill completely.
When chilled, pour the mixture into the bowl of an ice cream maker and freeze according to the manufacturer’s directions.