Two cups of sweetened condensed milk, two cups regular milk. Heat over a low flame. Mix in cocoa powder with a little vanilla like you are making hot chocolate. Put in an ice cream freezer.
Ice cream.
Except when you don't like chocolate ice cream, like me. I prefer vanilla ice cream which is made with cream, milk, sugar, egg yokes, vanilla and a pinch of salt. Cook the milk, cream, sugar, egg yokes and salt over low heat until you have a custard. Stir in the vanilla. Put mixture in ice cream maker and finish in the freezer for a hour or so and you are good to go. Cut up fresh peaches are a great addition to this recipe.
When I was a kid, my cousins and I hand churned the ice cream made fresh from their cow's milk on their dairy farm. Nothing can beat that.