Heat the milk to a simmer in a saucepan over medium heat.
Whisk together the egg yolks and salt in a large mixing bowl.
Slowly pour the hot milk into the eggs, whisking vigorously as you pour.
Return the mixture to the saucepan over a very low heat, add the goat cheese and stir until melted, smooth and thickened.
Allow to cool and follow the instructions for your ice cream maker if you have one.
If you do not have an ice cream maker, freeze in a container for an hour or until the edges turn slushy. Then blitz in a food processor or with a hand blender until smooth. Return to the freezer for another and repeat this freezing/blitzing process 2 more times before leaving it in the freezer for at least 6 hours or overnight.
Take the ice cream out of the freezer 10 to 15 minutes before serving.