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Whisk together the milk and sugar, stirring until the sugar has dissolved., Stir in the heavy cream and vanilla., For best results, chill the mixture in the refrigerator for 1 hour before freezing., Freeze in an ice cream maker according to the manufacturer's directions., Stir the cookie chunks into the soft ice cream, and serve immediately., For firmer ice cream, place soft ice cream in a covered container. Freeze for 2 to 3 hours, until the ice cream is as hard as you like. Note: Freezing longer than this will make the ice cream rock hard; plan on softening at room temperature for 15 to 20 minutes or so before serving.