In a saucepan (off heat) mix yolks, sugar and salt. Add dulce de leche and mix well. Little by little pour in the milk and stir until milk is incorporated to the mixture.
Place saucepan over medium heat and stir constantly with a wooden spoon, until mixture starts to thicken, about 10 minutes. Don't let it boil.
Remove from heat and add heavy cream. Stir a little until mixture cools.
Take it to the fridge until mixture starts to freeze.
Pour mixture in the ice cream maker. Process according to the manufacturer's directions.
Transfer ice cream to a resealable plastic container and freeze until firm, about 2 hours.