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In a small bowl or large measuring cup, whisk together milk and pudding mix until pudding mix has dissolved.
Add heavy cream and vanilla extract, whisking to combine.
Pour mixture into a Ninja Creami pint container, being careful not to exceed the max fill line, and close the lid.
Transfer to a level surface in your freezer and freeze for at least 24 hours.
Remove pint container from freezer and take off lid.
Place container into the outer bowl of the Ninja Creami and secure the outer bowl lid.
Lock the outer bowl apparatus into the Ninja Creami machine and press the Ice Cream button.
Allow the cycle to complete.
Remove the pint container and check the consistency of the ice cream.
If the texture appears crumbly, insert the pint back into the machine and press the Re-spin button.
If it's still crumbly after that, add a tablespoon of milk and Re-spin again.
Serve and enjoy!