Gather all the ingredients and have them ready for easy preparation.

In a medium saucepan set over low heat, combine the milk, heavy whipping cream, and white sugar. Stir continuously until the sugar is fully dissolved. Gently heat the mixture just until it becomes hot and a delicate ring of foam forms around the edges—avoid boiling.

Carefully pour the warm cream mixture into a container with a spout, such as a large measuring cup, to make pouring easier later. Stir in the vanilla extract, mixing well to distribute the flavor evenly. Cover and chill the mixture thoroughly in the refrigerator for at least 2 hours, preferably overnight, to ensure the best texture when churning.

Once the mixture is fully chilled, pour it into your ice cream maker. Turn on the machine and churn according to the manufacturer's instructions, typically for 20 to 25 minutes, until it thickens to a soft-serve consistency.

You can enjoy the freshly churned ice cream immediately for a soft, creamy treat. Alternatively, transfer it into a freezer-safe container, place a piece of plastic wrap directly on the surface of the ice cream to prevent ice crystals from forming, and let it ripen in the freezer for 2 to 3 hours until firm.

Scoop, serve, and savor the classic, pure flavor of homemade vanilla ice cream!