Most ice cream recipes use heavy cream and eggs, which are delicious but not always the healthiest option. You can substitute milk for the traditional ingredients to create a healthier yet still tasty ice cream. If you prefer a creamier texture, try using sweetened condensed milk. If you're a fan of plant-based diets, you can even make ice cream using coconut milk.
Ingredients
Vanilla ice cream made with regular milk
- 4 cups (960 mL) of milk (any fat content)
- 1 cup (120 g) sugar
- 1 teaspoon vanilla extract
8 servings
Vanilla ice cream made with condensed milk
- 400 mL sweetened condensed milk (low-fat or regular milk)
- 2 cups (450 mL) cold whipped cream
- 1 teaspoon vanilla extract
3 cups of ice cream
Vegan ice cream made from coconut milk
- 2 cans (350 – 450 ml) full-fat coconut milk
- 1/2 cup (60 g) maple syrup, maple sugar, honey, turbinado sugar (a type of light brown raw sugar with large crystals), or cane sugar
- 1/4 teaspoon salt
- 2 tablespoons cornstarch
- 1.5 teaspoons vanilla extract
- Optional add-ins: nuts, chocolate chips (or carob chips), pureed fruits, cocoa nibs, etc.
6 - 8 servings
Steps
Making vanilla ice cream with regular milk

Mix the milk, sugar, and vanilla in a medium-sized bowl. Measure the ingredients and add them to a medium-sized bowl. Use a large spoon to stir everything together. Keep stirring until all the sugar has dissolved.
- You can use any fat content of milk, whether it's non-fat, 2% fat, or whole milk.
- Feel free to experiment with chocolate milk to create a chocolate-flavored ice cream.

Pour the mixture into an ice cream maker. If you have an ice cream maker, pour the mixture into the machine. Turn it on and let it churn for about 20 minutes until the mixture thickens significantly. Transfer the mixture into a Tupperware container and place it in the freezer.
Pour the mixture into a shallow dish if you don’t have an ice cream maker. While having an ice cream maker is convenient, it’s not required for this recipe. Simply pour the milk, sugar, and vanilla mixture into a freezer-safe dish and place it in the freezer.
Stir the mixture every 2-4 hours. You can improve the texture of the ice cream by taking it out every 2-4 hours to stir, then returning it to the freezer.
- If using an ice cream maker, stir the mixture every 4 hours.
- If not using an ice cream maker, stir every 2-4 hours once ice crystals start to form.

Freeze the mixture for 8 hours or overnight. After 8 hours in the freezer (and occasional stirring), the mixture will fully freeze. It will have an ice cream-like texture and be ready to enjoy right away.

Top your ice cream with your favorite toppings and enjoy. Scoop the ice cream into a bowl using an ice cream scoop. Add some chocolate syrup, whipped cream, nuts, dried or canned fruits, or anything else you like on top.
- Store any leftover ice cream in the freezer. It can be kept for several days.
Making vanilla ice cream with condensed milk

Chill the sweetened condensed milk. Sweetened condensed milk is typically sold in cans and does not require refrigeration. For this recipe, you'll need the milk to be cold before mixing the ingredients. Place the milk in the refrigerator for a few hours before you start making the ice cream.
Whip the heavy cream with a stand mixer. Remove the heavy cream from the refrigerator and get started immediately, as it’s important that all the ingredients are cold when mixed together. Start by whipping the cream on medium speed using the whisk attachment. Continue whipping until stiff peaks form.
- If you don’t have a stand mixer, a hand mixer will also work.
Reduce the mixer speed and add the milk and vanilla. Once the cream begins to form peaks, take the chilled condensed milk out of the fridge. Lower the mixer speed and slowly pour the sweetened condensed milk into the whipped cream. Add the vanilla extract to the mixture.
Increase the mixer speed to medium. After adding the other ingredients, increase the mixer speed to medium. Continue mixing until the mixture thickens and forms firm peaks. This time, the peaks will be much stiffer.
Customize your ice cream with your favorite ingredients (optional). If you want to add more flavors and extras to your vanilla ice cream, now's the time! You can mix in anything you like, so feel free to experiment. Try adding crushed cookies, pureed fruit, nuts, pieces of sponge cake, chocolate syrup, and more to create your own unique flavor. Stir the mixture well to evenly combine the ingredients.
- For example, to make strawberry cheesecake ice cream, add 1 cup of cheesecake and your desired amount of pureed strawberries.
- Mix in 2/3 cup of crushed Oreo cookies for cookies and cream ice cream.
- Add 1/4 cup of pureed mango for mango-flavored ice cream.

Scoop the mixture into a container and freeze for 6 hours. Scoop the ice cream mixture into a large freezer-safe container with a tight-fitting lid (like a Tupperware box). Place the container in the freezer for at least 6 hours, or overnight. After 6 hours of freezing, your ice cream will be ready to enjoy.
Making vegan ice cream with coconut milk
Pour the coconut milk into a saucepan. Shake the can of coconut milk well before opening. Measure out 1/2 cup of coconut milk and set it aside, then pour the rest into the saucepan.
- Coconut milk separates when stored in a can, so make sure to shake it well before using to ensure it's blended into a smooth mixture.
Add the salt and your chosen sweetener. Measure out your preferred sweetener—whether it's maple syrup, honey, or sugar—and pour it into the saucepan. Add the salt and stir everything together.

Heat the coconut milk over medium-low heat for 1-2 minutes. Set the stove to medium-low heat and stir the coconut milk until it becomes warm. Keep stirring until the mixture is evenly heated and the sweetener dissolves completely. This should take around 1-2 minutes.
Mix the cornstarch with the remaining coconut milk. Place the cornstarch in a small bowl with 1/2 cup of the reserved coconut milk and whisk vigorously. Keep whisking until the cornstarch is fully dissolved.
Pour the cornstarch mixture into the heated coconut milk. Add the cornstarch mixture to the saucepan with the warmed coconut milk. Stir gently to combine the two mixtures evenly.
Increase the heat to medium and cook for 6-8 minutes. Raise the heat to medium and stir as the mixture begins to thicken. Keep stirring until the mixture is thick enough to coat the back of a spoon. This should take about 6-8 minutes. Be careful not to let the mixture boil.
Remove the saucepan from the heat and add the vanilla. Once the mixture has thickened, turn off the heat and remove the saucepan from the stove. Add the vanilla and stir until it's fully incorporated. Allow the mixture to cool for a few minutes.
Pour the mixture into a container and refrigerate. Transfer the mixture into a shallow container and cover it with plastic wrap. Place it in the fridge for at least 4 hours or up to 3 days.

Stir the chilled mixture for 10-20 minutes. Remove the container from the refrigerator and remove the plastic wrap. At this point, the mixture will have a pudding-like consistency. Pour it into an ice cream maker and start churning. You need to churn it until it thickens slightly, reaching a soft-serve ice cream consistency.
- Different ice cream makers may vary slightly, but this process should take about 10-20 minutes.
- You can add any ingredients you like when the mixture is almost done and churn for a few more seconds.

Transfer the ice cream to a container and freeze for 4 hours. Scrape the ice cream from the machine into a freezer-safe container with a lid. Place a piece of parchment or wax paper on the surface of the ice cream to prevent ice crystals from forming. Freeze the mixture for 4 hours or until it hardens, and then enjoy.
- You may need to take the ice cream out of the freezer and let it sit for a few minutes to soften before scooping.
