Method:
Melt the brown sugar and butter together in a pan over a gentle heat. Increase the heat until the mixture bubbles for a minute only. Then allow the mixture to cool slightly and add the warm milk (this stops the mixture from hardening too quickly). Stir continuously over a gentle heat until thoroughly mixed.

Allow to cool. In a seperate bowl, beat together the eggs and the caster sugar then pour the mixture from the saucepan onto it. Add the vanilla essence and stir then strain back into the pan.

Stir over a low heat until the mixture thickens slightly; take care not to let it boil. Cool the mixture, then Whip the cream lightly and fold into the cooled mixture. Pour into a freezer container and freeze until softly frozen (mushy). Beat with a whisk and return to the freezer until the ice cream is firm.

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For US to UK equivalents for food weights and measurements see this rough guide

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