Place the milk in a medium saucepan. Heat over medium-low until it just begins to simmer.

While the milk is heating, whisk together the salt, sugar and egg yolks in a medium bowl. Gradually pour the hot milk into the egg yolks; whisking vigorously the entire time.

Return the mixture to the saucepan and cook over medium-low heat, stirring constantly, until the mixture thickens noticeably and coats a wooden spoon. (~3-4 minutes) (Note: Do not let the mixture boil.)

Remove mixture from heat and add the maple syrup, heavy cream, bourbon and vanilla extract; stir until well combined. Pour the mixture through a fine-mesh strainer into a clean container. Cover with plastic wrap, pressing the plastic directly onto the surface of the mixture, and refrigerate overnight.

Pour the ice cream mixture into an ice cream maker and freeze according to the manufacturer's directions.

(Optional) If you desire a firmer ice cream, transfer the finished ice cream into the freezer for a couple of hours. (Note: This ice cream will never get super firm due to the alcohol. Instead, it will stay the consistency of soft serve.)