Set the sugar in a pot, zest the oranges over the sugar then rub the zest into the sugar with your fingers until it feels like wet sand.

Add the egg yolks to the pot and use an immersion blender to blend the mix until smooth and the yolks are completely broken up. If you don’t have an immersion blender you can do this in a blender or use a whisk, and be vigorous =)

Add the heavy cream, orange juice, and salt to the pot and whisk well. Use a sharp knife to split the vanilla bean open lengthwise then scrape up the caviar/seeds inside, add the seeds to the pot and whisk, then and the bean as well.

Set the pot over medium low heat, and cook, stirring frequently until the temperature reaches 170 F. The cream will thicken slightly.

Pour the custard into a bowl through a fine mesh sieve to remove any bits (the zest has already imparted its flavor). Wipe the vanilla bean clean then add it to the custard - keeping it in will allow the flavor to deepen. Chill the custard for at least 8 hours, or up to 48.

When ready to churn, remove the vanilla bean and pour into your ice cream machine - following its instructions for churning.