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If needed, freeze the base of your ice cream maker to prepare for churning.
Place 1 1/2 cups cold whole milk and 1 1/4 cups granulated sugar in a medium bowl and whisk until the sugar has dissolved, about 2 minutes. Add 3 cups cold heavy cream, 2 teaspoons vanilla extract, and 1 teaspoon almond extract, and stir to combine.
Churn in an ice cream maker according to the manufacturer's directions until almost a soft serve consistency, 20 to 25 minutes. Meanwhile, coarsely chop 1 1/2 cups raw shelled pistachios.
Add the pistachios to the base and churn for 5 minutes more. Transfer to an airtight freezer-safe container. Cover and freeze until solid, at least 4 hours or ideally overnight for a firmer consistency.