In a small saucepan over medium heat, warm the milk, sugar, salt and 1 cup of the cream in a medium saucepan, stirring until the sugar is dissolved. Pour the remaining 1 cup of cream into a large bowl and set a mesh strainer on top.
In a separate medium bowl, whisk together the egg yolk mixture. Slowly pour the warm mixture into the egg yolks, whisking constantly, then scrape the warmed egg yolks back into the saucepan.
Stir the mixture constantly over medium heat with a heatproof spatula, scraping the bottom as you stir, until the mixture thickens and coats the spatula. Pour the custard through the strainer and stir it into the cream. Now take a handheld blender and blend the sesame paste into the hot custard. Stir until cool over an ice bath.
Chill the mixture thoroughly in the refrigerator. When ready to churn, freeze the mixture in your ice cream maker according to the manufacturer's instructions.