Place corn kernels (and any excess corn milk), cobs, cream, milk, and half of sugar in a saucepan and simmer until sugar dissolves, about 5 minutes. Remove from heat, cover and allow mixture to steep for 1 hour.
Remove cobs, pour mixture into a blender and puree. Strain mixture through a fine sieve and pour back into the saucepan. Heat mixture until scalding.
Place remaining sugar, yolks and salt into a mixing bowl and whisk together until light and fluffy.
Once cream mixture is scalding, add 1 cup to yolk mixture, whisking to prevent the mixture from scrambling.
Add tempered yolk mixture to saucepan and whisk together. Allow mixture to scald until mixture thickens enough to coat the back of a spoon, 3 to 4 minutes.
Strain ice cream through a cheesecloth lined sieve into a mixing bowl. Place bowl into an ice bath and stir in vanilla extract.
Allow mixture to sit until room temperature. Cover ice cream and chill in the refrigerator for 8 to 12 hours (overnight).
Freeze ice cream according to your machine’s manufacturer’s instructions.
Scoop ice cream into split Hawaiian rolls and serve immediately.