Mix the base: In a large mixing bowl, whisk together the whole milk, sugar, vanilla, and a pinch of salt until the sugar is fully dissolved. This may take 1–2 minutes of whisking.
Add the cream: Stir in the heavy cream until fully combined. This forms your ice cream base, which should be smooth and slightly thick.
Freeze the base: Pour the mixture into a freezer-safe container with a tight-fitting lid. Cover and place it in the freezer for about 2 hours.
Break up ice crystals: After 2 hours, remove the container and stir or whisk the mixture vigorously to break up any ice crystals. Return to the freezer and repeat this process every 30 minutes for the next 1½ to 2 hours (about 2–3 more times), or until the mixture is thick and creamy.
Final freeze: Let the ice cream freeze completely for at least 6 hours or overnight for the best texture.
Serve: When ready, scoop and enjoy plain or with your favorite toppings!
Optional Ice Cream Maker Method
Prepare the mixture as described above by whisking together the milk, sugar, vanilla, salt, and then adding the cream.
Pour the mixture into your ice cream maker and churn according to the manufacturer’s instructions (typically 20–25 minutes).
Transfer the churned ice cream to a container and freeze for a few hours until firm.
