With Ice Cream Maker: Whisk all the ingredients until well combined. Churn in the ice cream maker, following the machine instructions and you will have creamy and delicious ice cream.
Without Ice Cream Maker: Whisk condensed milk and vanilla extract until well combined.
Whip heavy cream until soft peaks form.
Fold the whipped cream into condensed milk.
Pour into a 9"x5" loaf pan or other 2 quart pan. Freeze for 6 hours or until set. Enjoy!!