Chill the ice cream maker bowl in the freezer for at least 12 hours or longer.
In a bowl, combine milk, condensed milk, sugar and vanilla.
Give everything a stir until the sugar is dissolved and chill the mixture in the fridge until ready to churn.
Churn the ice milk mixture according to your ice cream maker manufacturer's instructions (mine was set on Sorbet/Sherbet mode for about 40 minutes), until increased in volume.
Enjoy the ice milk immediately as a soft serve, or freeze the ice milk in an airtight container for up to 1 month.