Whisk together the egg yolks and maple sugar in a heavy-bottomed, 2 quart saucepan until smooth. Whisk in the maple syrup, heavy cream, and milk, and place the pan over medium heat, stirring nearly constantly, until the mixture reaches 170°F on an instant read thermometer. Pour through a fine mesh sieve into a heat-safe bowl. Whisk in the pinch of salt and maple or vanilla extract. Cover the bowl with plastic wrap and refrigerate overnight for best results. If you're in a hurry, you can place the bowl -uncovered- in a larger bowl filled with ice and stir until chilled completely.

Churn the chilled custard base according to your ice cream maker manufacturer's instructions, adding the chopped bacon in the last couple of minutes of churning: just long enough so that the pieces are mixed into the base.

Eat immediately for super soft serve texture or pack into a container with a tight fitting lid, or a bread pan with plastic wrap laid directly on the surface of the ice cream to prevent freezer burn. Stash in the freezer for several hours or overnight. If very firm, you may want to soften on the counter for 10 minutes or so before scooping.