Ok, so after some research I have come up with this for my receipe for Ice Cream made with 2% and Splenda:
I am currently simmering down six cups of 2% milk to about three cups. Not boiling but just simmering. Then I will add 4 egg yolks to make a custard like mixture. Then I'll add my Splenda. Am not sure about how much Splenda but I will find out. Then I will chill the whole thing and proceed making ice cream in my Demi ice cream maker. I will keep you all posted as to how it's going. I just love to experiment with something like this. Wish me luck!