Wash and peel the apricots. Cut in half, remove pits, and slice into quarters. Mix with 1/4 cup brown sugar and lemon juice. Let macerate for 1 hour, then strain and set aside.

Whisk egg yolks with remaining brown sugar and vanilla extract until smooth and paler in color.

Heat whole milk and heavy cream in a saucepan over medium heat until steaming (5-7 minutes). Remove from heat.

Gradually pour hot cream into egg mixture, whisking continuously to temper the eggs for 2-3 minutes.

Return tempered mixture to saucepan and cook over low heat, stirring continuously until thick enough to coat a spoon (5-8 minutes).

Strain custard through a fine mesh sieve into a clean bowl. Stir in reserved apricot juice and cool to room temperature, then refrigerate for at least 4 hours.

Pour chilled base into ice cream maker and churn for about 20 minutes. Add reserved apricot pieces during the last minute.

Transfer churned ice cream to an airtight container and freeze for at least 4 hours or overnight.