Mix the base. In a large bowl, whisk together the whole milk, sugar, and salt until the sugar is completely dissolved, about 1–2 minutes.
Add cream and vanilla. Pour in the heavy cream and vanilla extract. Stir to combine.
Chill the mixture. Cover the bowl with plastic wrap and refrigerate for at least 2 hours, or overnight for best results.
Prepare your machine. Confirm your Cuisinart freezer bowl has been in the freezer for at least 16–24 hours. Assemble the machine per manufacturer instructions.
Churn the ice cream. Turn the machine on, then pour the chilled base into the bowl. Churn for 20–25 minutes until the mixture reaches a soft-serve consistency.
Add mix-ins (optional). In the last 5 minutes of churning, add any desired mix-ins such as chocolate chips, crushed cookies, or fruit.
Freeze to harden. Transfer to an airtight container. Press plastic wrap directly onto the surface of the ice cream. Freeze for 1–2 hours for a firmer, scoopable texture.
Serve. Let sit at room temperature for 5 minutes before scooping. Enjoy!
