If not frozen yet, place the bowl of the ice cream maker in the freezer overnight.
In a medium saucepan, combine all the ingredients. Cook over medium heat, whisking frequently, until warm and sugar is dissolved, about 5 minutes.
Transfer mixture to a heat-proof bowl, cover and refrigerate for a couple hours.
Pour the mixture into the frozen bowl of an ice cream maker and churn according to the manufacturer's directions. It took me 25 minutes to reach a soft-serve consistency.
Transfer ice cream to a lidded container (this recipe makes 1 1/2 quarts). Cover surface with plastic wrap and seal. Freeze for 3 hours or overnight for best results.
Serve with desired toppings.
Notes
Store in an airtight container in the freezer for up to two weeks.Mix-ins: Add 1 cup of desired mix-ins. I suggest chocolate chips, chopped nuts, chopped candy or Oreo cookies.Vanilla paste is preferred. You can also scrape the seeds from a vanilla bean. I do not suggest using extract since the flavor isn't as strong.