Place the base of your ice cream maker into the freezer for at least 12 hours before preparing the homemade ice cream mixture.
In a medium saucepan, whisk together the milk, sugar, and cream. Heat over medium-low heat, until the sugar is dissolved and the mixture is just warm to the touch. Do NOT allow the mixture to come to a boil.
Transfer the warm cream to a large glass measuring cup and stir in the vanilla extract.
Place the cream mixture into the refrigerator and chill thoroughly for at least 2 hours or overnight.
When ready to churn the ice cream, remove the frozen base from the freezer and assemble the machine.
Turn the ice cream machine on and then pour the cream mixture into the base of the ice cream maker, and churn according to the manufacturer's directions, which is typically for 20 to 25 minutes.
Once the ice cream is softly frozen, serve immediately as soft serve ice cream or transfer the mixture to an airtight, freezer-safe container and freeze 2 to 3 hours, or until hardened and scoopable.
Homemade Ice Cream will keep for 1 month in the freezer in an airtight container. To prevent ice crystals, place a layer of wax paper or plastic wrap directly over the ice cream and then top with the container’s lid.
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Notes
Milk: Be sure to use whole milk or even half and half for the creamiest, richest ice cream. I have had success using 2% milk, but skim milk will not produce a creamy result.Vanilla Extract: Use pure vanilla extract or fresh vanilla beans. To use fresh vanilla beans, you will only need ½ of a vanilla bean. cut the pod in half and then slice open. Scoop out the vanilla beans and mix them into the ice cream base. Sugar: Use ¾ cup to 1 cup of sugar. I find ¾ cup perfect, but if you like things REALLY sweet, use a full 1 cup of sugar.