Pour the milk and sugar into a medium bowl and whisk until the sugar has dissolved. Stir in the cream and vanilla, cover and refrigerate for at least 2 hours, preferably overnight.
Whisk the mixture and pour into the ice cream maker bowl. Cover with the lid.
Turn the machine on and churn for 40 to 50 minutes.
To produce a firmer ice cream churn in the ice cream maker for longer.
Serve immediately or transfer into an airtight container in the freezer to store.
