Step 1

In a medium bowl, use an electric mixer and mix the milk and sugar on low speed for 2 minutes, or until the sugar begins to dissolve.

Step 2

Stir in the vanilla.

Step 3

Turn on your ice cream maker and pour in your ice cream mixture.

Step 4

Allow the ice cream maker to prepare the ice cream for 25-30 minutes, depending upon your ice cream machine.

Step 5

If you prefer a firmer ice cream, put it in a loaf pan covered with plastic wrap and aluminum foil. Freeze it for several hours until it reaches the firmness you want.