This recipe for homemade vanilla ice cream only requires 4 ingredients.
In a saucepan, whisk together the milk, sugar, and cream. Heat over low heat, until the sugar is dissolved .
Transfer the warm cream into a large glass measuring cup and stir in the vanilla extract. Then place this in the refrigerator for 2 hours or overnight.
Turn the ice cream machine on and then pour the cream mixture into the chilled base of the ice cream maker, and churn according to the manufacturer's directions.
When ice cream is softly frozen, serve immediately as soft-serve ice cream or transfer to a container and freeze for 2 to 3 hours, until scoopable.
Serve as desired.