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Add the heavy cream, half-and-half, or milk (any combination works as long as it equals 2 cups) along with the sugar and vanilla extract in one of the ziploc bags. Remove as much air as possible and seal the bag well. Squish everything around to mix it up and dissolve the sugar.
Add the ice to the other gallon-size ziploc bag, along with the rock salt. Place the bag with the ice cream into the bag with the ice and seal the outer bag, pressing out as much extra air as you can.
Shake the bag for 5 to 10 minutes, squishing and massaging the cream mixture in the middle to freeze it and turn it into ice cream. You may want to wrap the bag in a towel or use gloves to protect your hands. Or play "hot potato" with it by passing it between a few people.
When the ice cream is ready, carefully open both the outside and inside bags, being especially careful not to let any ice and salt fall into the ice cream. Scoop it into bowls and top with your favorite ice cream toppings and enjoy right away, or add some mix-ins, seal the bag up, and squish it for another minute or two. You can also transfer the ice cream to the freezer for 2-3 hours to get hard and scoopable.