Heat oven to 350F. Place all apricot kernels on a baking sheet. Toast at 350F for 5 minutes.
In a pot (ideally at least 3 quarts/3.5L), combine 400 mL whole milk, 300 mL heavy cream, 4 large egg yolks, 120 g granulated sugar, 20 g dextrose, 30 g skim milk powder, 1/4 tsp kosher salt. Whisk until well combined. Add toasted apricot kernels.
Create an ice bath with by filling a large bowl halfway with ice and water. Place a heatproof bowl over the ice bath for later.
Cook the ice cream base over medium heat until the entire mixture thickens enough to coat the back of a spoon (at least 180F). Stir gently and be sure to scrape the bottom of the pot frequently.
Pour into the bowl set over the ice bath. Chill until the mixture is cold throughout, giving the ice cream base a stir and adding more ice if necessary. Transfer to an airtight container to rest in the refrigerator overnight for more intense flavor or spin immediately for a lighter flavor.
Strain the mixture through a fine mesh sieve, discard the apricot kernels. Pour into your ice cream machine and spin according to machine directions. The ice cream should be a soft-serve consistency when done. Transfer to an airtight container and place it in freezer to fully set for at least 4 hours.