In a medium sized saucepan, combine rhubarb, sugar, and orange juice. Bring to a simmer and cook until rhubarb has softened, about 10 minutes.
Transfer to food processor and puree. Let cool completely.
To make the custard:
In a large bowl, whisk together egg yolks and 2 tablespoons sugar. Set aside.
In a heavy bottomed saucepan, whisk together half and half, cream, milk, and 1 cup of sugar. Heat until sugar dissolves and begins to simmer.
Adding about ¼ of a cup at a time, pour 1 cup of simmering milk mixture into the egg yolks, whisking constantly so eggs temper.
Transfer egg mixture back to saucepan with remaining milk and simmer for an additional 5 minutes, until custard starts to thicken.
Remove saucepan from heat and add in vanilla. Transfer to fridge and let cool completely, for at least 4 hours but up to overnight.
When ready to prepare ice cream, follow your machine's instructions, adding the rhubarb compote in at the last 5 minutes. Transfer to a container and freeze overnight before serving.
Recipe by Things I Made Today at https://www.thingsimadetoday.com/2014/05/20/rhubarb-ice-cream/