Step 1

Soak gelatin in 1/4 cup cold water

Step 2

In a saucepan over medium heat, heat up milk until hot, but not boiling (bubbles around the edge and begins to steam)

Step 3

Remove from heat and add in the sugar, gelatin, salt and vanilla. Stir to combine

Step 4

Transfer mixture to a bowl or large measuring glass

Step 5

Allow mixture to cool slightly, then stir in the whipping cream

Step 6

Chill for 5 or 6 hours before freezing in the ice cream maker according to models directions (our took between 20 - 30 minutes to get nice and thick)

Step 7

Serve quickly for a more authentic soft serve style

Step 8

Or place in sealed freezer container and store in freezer