(Giving credit where it is due: The base for this ice cream is Walt's Dream from The Ample Hills Creamery.)
Combine the sugar, skim milk powder and whole milk in a medium size pan. Mix to make sure that the skim milk powder is dissolved.
Add in the whipping cream and stir to combine.
Cook over medium heat until 110°F, stirring constantly so the milk will not burn. Remove from the heat, stir in 1.5 cups of chopped glazed donuts and cover. Let sit for 20 minutes. During this time, prepare a large bowl or pan with ice and water. You will place the medium sized pot in it after it has cooked.
Put the three egg yolks in a cup or bowl and stir to combine. Place this in an area close to the stove with a 1/2 cup next to it.
After 20 minutes, put the pan back on the medium heat, stirring constantly until it returns to 110°F.
Remove the pan from the heat and carefully pour 1/2 cup of the warm milk mixture into the eggs. Continually stir the eggs and add 1/4 cup more (total 3/4 cup) of milk mixture to the eggs. Once the eggs and 3/4 cup of milk are well-combined, slowly pour the egg/milk mixture back into the pot, stirring carefully. This is a very important step. Do not try and add the eggs straight to the milk, unless you want to make scrambled eggs!
Put the pan back on the heat and cook until it reaches 165°F. Remove the pan from the heat and add the almond and vanilla extracts.
Carefully place the pan into the ice bath to cool it down for about 20 minutes. Keep an eye on it and stir occasionally. Pour the mixture through a fine mesh strainer into a bowl. Press on the donut pulp to remove any traces of milk. Throw away the donut pulp.
Place the bowl with the ice cream base into the refrigerator and let it completely cool. This takes at least an hour. Put it in your ice cream maker and let the magic happen! Once the donut ice cream has become thickened, slowly alternate adding chunks of cold donut, cold frosting and sprinkles.
This recipe makes just about 1 quart of donut ice cream.