Step 1: Ensure your heavy whipping cream is very cold. If possible, chill your mixing bowl and whisk attachment in the freezer for 10-15 minutes.
Step 2: In the chilled large mixing bowl, pour the cold heavy whipping cream. Using an electric hand mixer or stand mixer with a whisk attachment, beat the cream on medium-high speed until stiff peaks form. Be careful not to overbeat.
Step 3: In a separate bowl, combine the sweetened condensed milk and the pure vanilla extract. Stir gently until well mixed.
Step 4: Add about one-third of the whipped cream to the sweetened condensed milk mixture. Gently fold it in with a spatula to lighten the mixture.
Step 5: Add the remaining whipped cream to the lightened condensed milk mixture. Gently fold until no streaks of condensed milk remain and the mixture is uniformly combined. Be careful not to deflate the whipped cream.
Step 6: Pour the ice cream mixture into a freezer-safe container (a 9x5 inch loaf pan works well). Smooth the top with a spatula.
Step 7: Cover the container tightly with plastic wrap, pressing it directly onto the surface of the ice cream to prevent ice crystals. Then cover with a lid if available.
Step 8: Freeze for at least 6 hours, or preferably overnight, until firm.
Step 9: Before serving, let the ice cream sit at room temperature for 5-10 minutes to soften slightly, making it easier to scoop. Enjoy!