1 can (14 ounces) fat-free sweetened condensed milk
1 cup fat-free milk
3 teaspoons vanilla extract
In a large bowl, combine all the ingredients. Fill cylinder of ice cream freezer two-thirds full; freeze according to manufacturer's directions. (Refrigerate any remaining mixture until ready to freeze.) Transfer ice cream to freezer containers, allowing headspace for expansion. Freeze 2-4 hours or until firm. Repeat with any remaining ice cream mixture
Remove from the freezer 30-45 minutes before serving.