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Whisk together full-fat milk and sugar in a saucepot.
Simmer until the sugar is dissolved. If using vanilla seeds, you will have to add them now.
Remove the milk from the heat and allow it to cool down to room temperature.
Pour the mixture into a loaf pan and pop in a freezer for 4 hours. Make sure you stir the mixture every hour.
Remove the ice cream from the freezer 10 minutes before serving.