Heat the milk and cream until boiling point.
Meanwhile, beat the egg yolks and sugar until the mixture becomes pale.
Gradually pour the milk and cream mixture over the eggs and mix well.

Return the mixture to the saucepan and cook until the cream coats the spoon, without boiling the mixture.

Remove the mixture from the heat and add the broken Kinder bars.
Wait 1 minute, then mix with a whisk until the bars are melted and the mixture is smooth.

Pour into a bowl, cover with plastic wrap, and refrigerate until the mixture is very cold.

Once chilled, pour into an ice cream maker and churn until the desired consistency is reached.

Open the Kinder eggs in half, being careful not to break the shells.
Fill the egg halves with Kinder ice cream, then place a wooden stick on one half of the egg, and position another half-egg on top.
Freeze until the ice cream is set.