In a medium saucepan, combine heavy cream and loose leaf Earl Grey tea over medium heat. Stir gently until fragrant, about 5 minutes.

Place the saucepan in an ice water bath to cool the cream to room temperature, stirring occasionally for about 10 minutes.

Strain the mixture through a fine mesh sieve to remove the tea leaves, leaving a smooth cream base.

Transfer the tea-flavored cream to a bowl and refrigerate for at least 1 hour until thoroughly chilled.

Scrape the seeds from the vanilla bean and add to the chilled cream. Use an electric mixer to whip until stiff peaks form, about 3-5 minutes.

Gently fold in the sweetened condensed milk into the whipped cream without deflating it.

Pour the mixture into a metal container or loaf pan, smooth the top, cover, and freeze for 5-6 hours until solid.