In a medium saucepan, combine heavy cream, milk, sugar, vanilla bean seeds and pod (or extract), and salt. Heat over medium heat, stirring occasionally, until mixture is hot and sugar is dissolved, about 5 minutes. Do not boil.
Remove from heat. If using vanilla bean, remove the pod. Let mixture cool to room temperature, then cover and refrigerate until thoroughly chilled, at least 4 hours or overnight.
Pour chilled mixture into an ice cream maker and churn according to manufacturer's instructions until it reaches a soft-serve consistency, about 20-25 minutes.
Serve immediately in waffle cones, or transfer to a container and freeze for up to 2 hours for a firmer texture.
Tips
For best texture, serve immediately after churning.
Store leftover soft serve in an airtight container in the freezer; let soften slightly at room temperature before serving.