Step 1

In a small bowl or large measuring cup, whisk together milk and chocolate pudding mix until the powder has dissolved.

Step 2

Add heavy cream and vanilla extract, mixing to combine.

Step 3

Pour mixture into a Ninja Creami pint container and close the lid. Transfer to a level surface in your freezer and freeze for at least 24 hours.

Step 4

Remove pint from freezer and take off lid. Place pint into the outer bowl apparatus and secure the outer bowl lid. Place outer bowl into the Ninja Creami machine.

Step 5

Use the Ice Cream function to process the pint of ice cream.

Step 6

Remove pint from machine and check the consistency of the ice cream. If it appears crumbly, insert it back into the machine and use the Re-spin button to process it again. If it's still crumbly, add a tablespoon of milk and Re-spin again.

Step 7

Optional: If you'd like to add a mix-in, create a well in the center of the ice cream that's about 1/2-inch wide and extends to the bottom of the pint. Add your mix-in pieces to the well, and insert the pint back into the machine. Use the Mix-in function to incorporate the pieces into the ice cream.