Homemade Vanilla Ice Cream for Affogato

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 thickens enough to coat the back of a spoon.
3. Remove the saucepan from heat and chill the mixture for at least 4 hours, or preferably overnight in the fridge.
4. Once chilled, transfer the mixture to an ice cream maker (like a KitchenAid ice cream attachment) and allow it to churn for at least 25 minutes according to your machine's instructions.
5. Once done, you can serve the ice cream immediately as a soft-serve, or transfer it to a freezer-safe container and freeze overnight for a firmer consistency. Serve with a shot of espresso for an affogato.