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In a medium bowl, use an electric mixer and mix the milk and sugar on low speed for 2 minutes, or until the sugar begins to dissolve.
Stir in the vanilla.
Turn on your ice cream maker and pour in your ice cream mixture.
Allow the ice cream maker to prepare the ice cream for 25-30 minutes, depending upon your ice cream machine.
If you prefer a firmer ice cream, put it in a loaf pan covered with plastic wrap and aluminum foil. Freeze it for several hours until it reaches the firmness you want.