Whisk all ingredients together until sugar dissolves.
Pour into the bowl of an ice cream machine. Freeze according to the manufacturer's instructions.
After the ice cream is made, transfer to an airtight container. Cover tightly and freeze until ready to serve. When ready to serve, garnish with toppings of your choice, example: crushed Oreos, chocolate curls, chocolate syrup, sprinkles, etc.
Recipe by Dallas Duo Bakes at http://dallasduobakes.com/2014/07/old-time-vanilla-ice-cream.html