Peel, pit, and slice apricots, then mix with 1/4 cup brown sugar and 1 tsp lemon juice. Allow to macerate for 1 hour.

Whisk together egg yolks, remaining brown sugar, and vanilla extract until smooth. Heat milk and cream in a saucepan until steaming, then mix with egg yolks.

Gradually add hot milk and cream to egg mixture while whisking. Return mixture to saucepan and cook until thickened for about 5-7 minutes.

Strain mixture into a bowl, stir in reserved apricot juice, cool to room temperature, then refrigerate for at least 2 hours or overnight.

Churn chilled mixture in an ice cream maker for about 20 minutes. In the final minute, add reserved apricot pieces.

Transfer churned ice cream to a container, smooth out, cover, and freeze overnight until firm.