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In a large bowl, whisk together the powdered milk, sugar, powdered cream, vanilla bean and salt until well combined. Transfer the mix to an airtight container. Store in a cool, dry place for up to 6 months.
Instructions for Making the Ice Cream: In a medium saucepan, combine ½ cups of the ice cream mix with 2 cups of whole milk. Cook over medium heat, whisking constantly, until the mixture is warm and the sugar is dissolved. If you didn't use vanilla bean seeds, add 1 tablespoon vanilla extract at this step.
For other flavors, you can add ingredients like cocoa powder, fruit puree or coffee. Start with ½ cup and adjust to taste. Remove the mixture from heat and let it cool to room temperature. Refrigerate for at least 2 hours or until thoroughly chilled. If you have an ice cream maker, churn according to the manufacturer's instructions. If you don't have an ice cream maker, pour the mixture into a shallow dish and place it in the freezer. Stir the mixture every 30 minutes until it reaches a soft serve consistency (about 2-3 hours). Serve immediately for soft serve ice cream or freeze for an additional 2-3 hours for a firmer texture.
Store the ice cream in an airtight container in freezer for up to 1 week. Customize your ice cream by adding mix-ins like chocolate chips, nuts or fruit during the last few minutes of churning.