In a chilled mixing bowl, whip the cold whipping cream on high speed until stiff peaks form (about 3–4 minutes).
In a separate bowl, combine the sweetened condensed milk, vanilla extract, and whole milk. Stir until smooth.
Gently fold the milk mixture into the whipped cream using a rubber spatula. Be careful not to deflate the whipped cream—take your time.
Transfer the mixture into a loaf pan or piping bag. Cover tightly with plastic wrap.
Freeze for at least 6 hours or overnight, until firm.
Let sit at room temperature for 5 minutes before serving. Pipe into cones or scoop into bowls and enjoy!
