Place a medium saucepan on the stove over medium heat and add all the ingredients except for the egg yolks. Mix well and bring to a boil. Remove from heat and let steep for 10 minutes.
In a small bowl add the egg yolks and whisk until thick. Slowly whisk the eggs into the milk mixture. Serve immediately or keep refrigerated up to three days.
Recipe by Kiss by Brooke at https://www.kissbybrooke.com/2018/12/20/paleo-holiday-eggnog/