Mix 4 cups half and half cream, 1 14 ounce can sweetened condensed milk, and 2 Tablespoons vanilla extract together completely in a bowl or pitcher. Pour into the bowl of an ice cream maker (see note) and freeze, following the directions of the ice cream maker. Serve immediately for soft ice cream, or transfer to a freezer-safe container and freeze until firm.
Notes
If mixture is not chilled, chill completely in the fridge or freezer (ensure to keep checking on it to make sure it doesn't freeze) before pouring into ice cream maker.