Prepare Lemongrass: Cut off the root ends and remove the outer layer of the lemongrass stalks. Finely chop to obtain about 3/4 cup.

Infuse Cream: In a medium saucepan, warm cream, condensed milk, chopped lemongrass, and salt over medium heat until the mixture steams. Do not boil.

Steep: Remove from heat and let the mixture steep for at least 30 minutes, preferably up to 1.5 hours to maximize lemongrass flavor.

Whisk Egg Yolks: In a small bowl, whisk egg yolks until combined.

Temper Egg Yolks: Reheat the cream mixture until it steams (do not boil). Slowly pour a small amount of the hot cream mixture into the egg yolks while whisking constantly to temper them.

Combine and Cook: Pour the egg and cream mixture back into the pot.

Cook to Coating Consistency: Heat the mixture, stirring constantly, until it reaches 175 degrees F (80 degrees C) or until it coats the back of a spoon.

Strain: Strain the mixture through a fine-mesh sieve to remove the lemongrass solids.

Cool: Let the strained mixture cool completely.

Churn: Freeze in an ice cream maker according to the manufacturer's instructions.

Harden: Transfer the churned ice cream to a container and freeze in the freezer for at least 3 hours, or until firm.