Homemade Vanilla Ice Cream

1. Add all the ingredients (half & half, heavy whipping cream, condensed milk, vanilla extract, and optional sugar) into a saucepan.
2. Heat the mixture on medium to low heat, constantly stirring until it is thickened enough to coat the back of a spoon.
3. Remove the mixture from heat and allow it to chill for at least 4 hours, or preferably overnight, in the refrigerator.
4. Once chilled, pour the mixture into the ice cream attachment of a KitchenAid mixer (or other ice cream maker) and allow it to mix for at least 25 minutes, or until it reaches a soft-serve consistency.
5. Serve the ice cream immediately as soft-serve, or transfer it to an airtight container and freeze overnight for a firmer scoopable texture. Enjoy!