In a small bowl, stir the sugar and egg yolks until you get a frothy mixture, then set it aside.
In a saucepan, heat the condensed milk, heavy cream, and potato milk to 200°F and keep it there for 15 minutes.
Slowly add half of the hot potato milk mixture to the sugar and egg yolk mixture. Be sure to whisk constantly as you combine these ingredients.
With these ingredients now combined, pour them back into the saucepan holding the other half of the potato milk mixture.
Take the saucepan off of the burner.
Add in the vanilla extract and mashed potatoes, making sure to stir constantly.
Put the finished mixture in an ice cream maker.
Be sure to freeze the mixture as per the manufacturer’s directions.
Enjoy your Creamy Potato Milk Vanilla Ice Cream!