Mix sugar with cornstarch and salt in a medium-sized microwaveable bowl; whisk in milk until smooth. Set aside.
Heat in microwave for 4 minutes or until thickened, while stirring every 45 seconds.
Beat egg yolks in a heatproof bowl; to prevent curdling, gradually whisk in some of the hot milk mixture. Whisk warm egg yolk mixture back into the rest of the milk mixture.
Cook for another 2 minutes, stirring continuously, until very thick.
Stir in vanilla. Set bowl aside to cool. Stir often, for 20 minutes or until custard is completely cool.
Fold cool custard into the whipped cream.
Carefully spoon ice cream mixture into moulds. Freeze for 6 hours or until completely set.
Popsicles can be kept in the freezer for up to 1 month.