Pour the whole milk and heavy cream into a medium saucepan. Add 50 g of the granulated sugar, the pinch of fine sea salt, the split vanilla bean pods and all the scraped vanilla seeds. Warm over medium heat, stirring occasionally, until small bubbles appear around the edge and the mixture steams but does not boil, about 5 minutes. Remove from the heat and let the vanilla steep in the hot dairy for 15 minutes.