Whisk egg yolks in a large heat-proof bowl. Set aside. Grab a separate mixing bowl and set a large wire-mesh sieve over it; set that one aside too.
Combine the cream, milk, sugar, lemon zest, lemon juice, and salt in a large saucepan. Cook on medium heat, stirring occasionally, 5 to 7 minutes or until it begins to simmer.
Remove from heat and bring the saucepan near your egg yolks. You're going to temper the eggs, meaning you'll gently warm them up before adding them to the saucepan. So while whisking the egg yolks constantly, slowly pour about 1/3 of the cream mixture into the eggs, then pour the eggs and cream back into the saucepan with the remaining cream. Do all of this while whisking constantly so the eggs don't begin to cook.
Set the mixture back over the heat on medium-low. Cook, stirring constantly with a wooden spoon or spatula, until the temperature reaches 160°F or until it's thick enough to coat the back of a spoon.
Pour the hot custard through the sieve and into the mixing bowl you set out. This will remove the lemon zest and any solid bits that may have formed. If you want the zest to remain in the ice cream, don't pour it through a sieve. Stir in vanilla.
Cover the custard with plastic wrap, pressing the wrap directly on the surface of the custard so a skin doesn't form on the top. Chill at least 4 hours.
Pour the cold custard into an ice cream machine, and churn based on the manufacturer's instructions. Add the biscoff cookies during the last 5 minutes of churning. Transfer ice cream to a container and freeze for at least 4 hours before scooping and serving.