In a small saucepan, combine the milk with sugar, vanilla bean and seeds and the gelatin. Allow to stand for 5 minutes.
Over medium heat, stir milk until the sugar and gelatine are dissolved. Off the heat, whisk in the mascarpone until smooth. Alllow to cool to room temperature.
Pour into an ice cream maker and process according to the manufacturer's instructions. Scrape the ice cream into a container and freeze until set, at least 4 hours