Pour the milk and sugar into a medium bowl and whisk until the sugar has dissolved.
Stir the cream and vanilla into the mixture, cover and if time allows refrigerate for 2 hours or preferably overnight.
With the ice cream paddle fitted, whisk the mixture and pour into the ice cream maker bowl. Cover with the lid.
Turn the ice cream maker on. If using a pre freeze model, set the timer for 25-30 minutes. If using a professional compressor model set the timer for 40-50 minutes. To produce a firmer ice cream churn in the ice cream maker for longer.
Serve or store in an airtight container in the freezer.