Whisk together icing sugar and egg yolks until thick and fluffy, add in cornstarch and mix well.
Mix together condensed milk and milk, then warm through over medium-low heat (DO NOT boil).
Gradually add in half of the warmed milk to egg yolk mixture, keep stirring while adding.
Combine egg yolk mixture with the remaining milk and mix well.
Stir the mixture over medium-low heat until boiling. Reduce heat to low, continue stirring for 4-5 minutes until custard has thickened (can coat the back of a spoon).
Add in durian flesh and cook for another minute. Sieve the durian custard, then set aside to cool.
When cooled, transfer to a container and chill for at least 6 hours (or freeze for 2 hours) until very cold.
Churn in an ice-cream maker for 40-45 minutes (you may put the ice-cream machine in a freezer bag if the room temperature is high to delay the melting of ice in ice-cream machine).
Transfer the soft ice-cream to a container and freeze for 7-8 hours for a firmer consistency. (If the ice-cream is too hard, leave it at room temperature for 5-10 minutes before serving.)
You may pour the durian custard into popsicle molds and freeze for at least 8 hours to make it into durian popsicles.
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Notes
This recipe yields 10 servings of ice cream.The nutritional value for reference is for 1 serving of ice cream.