In a medium sauce pan, combine 1 cup heavy cream, the sugar, and the salt over low-heat. Meanwhile, split the vanilla bean pod in half lengthwise using a sharp knife. Then, scrape the seeds with a small spoon.
Stir both the seeds and the pod into the mixture over medium-heat until sugar is completely dissolved. Remove from the heat, add the vanilla extract, the remaining cup of heavy cream, and the milk. Stir well.
Pour mixture into a glass container, cover, and refrigerate for at least 2 hours, maximum overnight. In this way the blend will become well-chilled, and the vanilla flavor will suffuse and permeate the mixture well, adding a wonderful taste to the ice cream.
Right before churning the ice-cream mixture, remove the vanilla bean pod. Process the mixture in your ice cream maker according to manufacturer’s instructions (about 30 minutes). Remove from the ice cream maker and let sit at room temperature for approximately 2 minutes so that the ice cream will soften enough to be stirred.
Finally, add the guava sauce little by little, swirling a bit with a stirring rod/stick. Note: do not stir vigorously in order to homogenize and fully incorporate the guava sauce- swirl just enough to streak the guava sauce into the ice cream, as in the picture below.
Put the sorvete nata goiaba (ice cream) into an airtight container and freeze it for at least 4 hours. Enjoy! Yield: 1 qt or almost 1 L.