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In a large mixing bowl, whisk together the milk and sugar until the sugar dissolves. Evaporated sugar cane juice takes a little longer to dissolve than regular granulated sugar. Some grains didn't completely dissolve, but I was okay with that.
Stir in the cream and vanilla.
Freeze in the ice cream machine according to the directions provided by the manufacturer of your particular machine.
Once the ice cream has thickened, eat immediately as soft serve ice cream or transfer it to an airtight container and store in the freezer for an additional 2 hours or more.