Step 1

Add the skimmed milk powder, sugar, xanthan gum and salt to a bowl and mix thoroughly. If the xanthan gum is not completely mixed into the sugar before we add the liquids, it won't work properly.

Step 2

Add the milk, cream and sweetened condensed milk to the bowl. They should all have been thoroughly pre-chilled in the fridge.

Step 3

If you're using a vanilla bean, cut it open and scrape the beans into the mixture. If you're using vanilla extract, just mix it in.

Step 4

Blend the mixture for 1 minute. It should start to thicken up to reach the consistency of a thin custard.

Step 5

Place the mixture in your fridge or freezer. This is an optional step. But the colder you can get it before you put in the ice cream maker, the better the final texture.

Step 6

Place the container that you're going to store the ice cream in in the freezer to pre-chill. This will reduce melting while you're transferring the ice cream to the freezer.

Step 7

Prepare your ice cream maker. If you're using a compressor machine, turn it on for 15 minutes to pre-chill before you add the mixture.

Step 8

If you've left the mixture in the freezer for too long and it's started to freeze slightly, give it another quick blend.

Step 9

Add the mixture to the ice cream maker and turn it on. The ice cream will be ready after 20 to 30 minutes, when it starts to come away from the sides of the bowl and has the consistency of soft serve or whipped cream.

Step 10

Stop the machine and quickly transfer the ice cream to your pre-cooled container. Place a layer of cling film or baking paper over the surface of the ice cream, to discourage ice crystals developing. Then add the lid and place the container in the back of your freezer for 2 to 4 hours to harden up.

Step 11

Remove the ice cream from the freezer and allow to soften for 5 minutes before serving.