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In a mixing bowl, combine the milk and sugar. Whisk until the sugar is completely dissolved.
Stir in the heavy cream and vanilla extract.
Chill the mixture in the refrigerator for at least 1–2 hours (or overnight for best results).
Pour the chilled mixture into your ice cream maker and churn according to the manufacturer’s instructions (usually 20–25 minutes).
Once the ice cream reaches a soft-serve consistency, transfer it to an airtight container.
Freeze for at least 2–4 hours to firm up before serving.
Serving and Storage Tips
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