You'll need an ice cream machine for this recipe.
Meanwhile, place eggs in a medium bowl, and slowly add about 1/3 of the warm milk mixture, stirring constantly. Add remaining milk to eggs, then return entire egg-milk mixture to saucepan. Reduce heat to low and stir constantly with a whisk or wooden spoon until custard has thickened slightly, about 3 minutes. Be careful not to boil, or eggs will scramble. Remove from heat and pour hot mixture through a strainer into a large bowl. Allow to cool slightly, stirring occasionally. Add sweetened condensed milk and blend well. Cool completely; cover and refrigerate until cold, several hours or overnight.
Remove cover. Stir and add to ice cream machine. Process according to manufacturer's instructions. During the final 5 minutes of churning, slowly add olive oil. When finished, ice cream will be soft but ready to eat. For firmer ice cream, freeze for several hours before serving. If desired, serve with a drizzle of olive oil.