Place kernels in a blender with milk and puree until corn kernels are finely ground. Transfer to a large saucepan and cook over medium high heat, stirring occasionally until steaming (about 8 minutes). Stir together yolks and sugar in a medium bowl. Pour steaming milk into the sugar mixture, whisking constantly. Return the milk mixture to the saucepan and stir over medium heat with a wooden spoon until the mixture is slightly thickened and an instant-read thermometer registers around 190°F (8 to 10 minutes). To test if it's ready, dip the wooden spoon in and run your finger across it. The line should remain clearly. Transfer the mixture to a bowl. Place bowl in a larger bowl of ice water and stir for several minutes to cool the mixture. Cover and chill until cold, 4 to 12 hours.
Sprinkle gelatin over the cream in a small saucepan to soften about 5 minutes. Heat mixture over medium-low heat stirring constantly until the gelatin is dissolved. Do not boil. Stir the gelatin into the corn mixture. Strain the corn mixture through a fine mesh sieve. Press down on solids to extract all liquid. Stir in salt.
Freeze in a 1-1/2- to 2-quart ice cream freezer according to manufacturer's directions.