Step 1

Add milk and sugar to a large mixing bowl. Stir together for about 2 minutes to help the sugar granules dissolve.

Step 2

Stir the heavy cream and vanilla extract into the mixture.

Step 3

Pour mixture into the prepared ice cream maker bowl.

Step 4

Run ice cream maker according to manufactures instructions. Run for 25 to 30 minutes till ice cream is nice and creamy throughout, like a soft serve consistency.

Step 5

Scoop ice cream into a 1.5 quart container, cover with plastic wrap, and place in the freezer for 6 hours, up to overnight for a more hand scooped ice cream.