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Whisk together your ice cream ingredients until fully incorporated.
Add ice cream maker paddle to freeze bowl, lower motor head and lock it in place.
Turn Kitchenaid mixer to "stir" (lowest) speed.
Slowly pour mixture into the Kitchenaid Ice Cream Maker (frozen bowl).
Churn for up to 30 minutes, or until ice cream is soft serve consistency.
For harder ice cream, add the soft-serve to a freezer safe container and freeze for 2-4 hours.