In a mixing bowl, combine milk, heavy cream, sugar, vanilla extract, and salt. Whisk until the sugar dissolves completely.

Pour the mixture into an ice cream maker and churn according to the manufacturer’s instructions.

If you don’t have an ice cream maker, pour the mixture into a shallow dish and freeze for 1 hour. Stir vigorously to break up ice crystals, then return to the freezer. Repeat this process every 30 minutes for 4 hours until creamy and frozen.

Once set, transfer the ice cream to an airtight container and freeze for another hour before serving.