Combine sugar, egg yolks and half and half in the top of a double boiler. Whisk together then cook, stirring constantly, until thickened, about 10 minutes. Remove from heat and add remaining ingredients. Refrigerate until cold, then process in an ice cream machine according to manufacturer's directions.
Recipe by Cooking With MicheleĀ® at https://cookingwithmichele.com/2011/07/beating-the-heat-creamsicle-ice-cream/