Heat the milk and cream in a medium saucepan set over Medium heat until simmering, stirring occasionally. Meanwhile, whisk the egg yolks and sugar in a medium-sized bowl until the yolks lighten in color slightly.
Remove the milk mixture from the heat and ladle about ½ cup slowly into the egg yolks while whisking constantly. Ladle another ½ cup of the hot milk mixture into the eggs, again whisking constantly. Pour the warmed egg mixture back into the saucepan, scraping the bowl. This process is called tempering, the idea being you heat the eggs slowly to avoid curdling them.
Return the saucepan to the heat and, stir until the mixture thickens slightly, approximately 3 to 4 minutes. Don't allow the mixture to boil. Remove from the heat and stir in the vanilla and almond extracts.
Strain the custard into a clean bowl and cool using an ice bath (½ ice cubes, ½ water, reaching halfway up the sides of the bowl). When cooled to room temperature, cover and chill in refrigerator at least 4 hours or overnight. (Chilled custard can be kept several days)
Pour the mixture into an ice cream maker and prepare the gelato according to the manufacturer's instructions, until it's smooth and frozen, about 25 to 30 minutes.
Transfer one third ice cream to a 2-quart airtight container and drizzle one third of the salted caramel sauce over it. Repeat layering with remaining ice cream and caramel sauce. Freeze ice cream until hard, at least 8 hours, and up to 1 week.
You can use any type of milk you'd like. I don’t keep whole milk in the house, so used 1% milk with no perceptible change in texture.For Salted Caramel Sauce, make a batch of Basic Caramel Sauce, adding 1 teaspoon of salt after you remove the caramel from the heat.If the sauce boils during thickening (breaking it), straining it out will help remove any curdled bits of eggs.If you want to leave out the almond extract, feel free, just up the vanilla extract to 1½ teaspoons. Better yet, infuse the milk & cream with a vanilla bean, halved and scraped, letting it steep in the warm milk 30 minutes. Remove the spent bean before tempering the mixture into the eggs.For those of you wondering why I didn't add toasted almonds to my gelato, it's because my husband doesn't like nuts in his ice creams. I would have totally done it otherwise.The ice cream maker I'm using is a KitchenAid Ice Cream Maker Attachment for my KitchenAid Stand Mixer. If that's not available, this Cuisinart does a great job also.