Whisk together first 6 ingredients; cover and chill 2 hours.
Pour milk mixture into freezer container of a 1-qt. electric ice-cream maker, and freeze according to manufacturer’s instructions. (Instructions and times will vary.)
Remove container with ice cream from ice-cream maker, and freeze 30 minutes.
Meanwhile, cook pecans and butter in a small skillet over medium heat, stirring constantly, 7 to 8 minutes or until toasted and fragrant. Spread pecans on wax paper, and sprinkle with kosher salt; cool completely.
Stir pecans and bourbon into prepared ice-cream mixture. Transfer mixture to an airtight container or a loaf pan covered tightly with aluminum foil; freeze 3 to 4 hours or until firm.