20 Creamy Vanilla Ice Cream Recipes with Milk and Sweet Twists

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April 13, 2025

Indulge your sweet tooth this summer with these 20 decadent vanilla ice cream recipes that use milk, cream, and a hint of sweetness to create mouthwatering flavors. From classic homemade recipes to unique twists like lavender and cardamom, there’s something for everyone on this list.

In this article, we’ll explore the world of creamy vanilla ice creams, highlighting the best ways to make this beloved flavor at home. Whether you’re a beginner or an experienced baker, these simple yet impressive recipes will have you whipping up scoops in no time. So grab your mixing bowls and let’s dive into the world of creamy vanilla!

Classic Homemade Vanilla Ice Cream with Whole Milk

Classic Homemade Vanilla Ice Cream with Whole Milk
A rich and creamy ice cream that’s a timeless treat. This recipe uses whole milk to give it a smooth, velvety texture and a hint of sweetness.

Ingredients:

– 2 cups whole milk
– 1 cup granulated sugar
– 1/4 cup heavy cream
– 1 tsp pure vanilla extract

Instructions:

1. In a medium saucepan, combine the milk, sugar, and heavy cream. Heat over medium heat, stirring occasionally, until the sugar has dissolved and the mixture is hot but not boiling.
2. Remove the mixture from the heat and stir in the vanilla extract. Let it cool to room temperature.
3. Cover the mixture and refrigerate for at least 2 hours or overnight.
4. Once chilled, pour the mixture into an ice cream maker and churn according to manufacturer’s instructions.
5. Once the ice cream is almost fully churned, transfer it to an airtight container and place it in the freezer to harden for at least 2 hours.

Cooking Time: None (chilling time included)

Rich Vanilla Bean Ice Cream with Condensed Milk

Rich Vanilla Bean Ice Cream with Condensed Milk
Experience the simplicity of homemade ice cream with this rich and creamy recipe that combines the warmth of vanilla beans with the sweetness of condensed milk.

Ingredients:

– 2 cups heavy cream
– 1 cup whole milk
– 1/2 cup granulated sugar
– 1/4 cup unsalted butter, melted
– 1 tsp pure vanilla extract
– 1/2 vanilla bean, split lengthwise
– 1/2 cup sweetened condensed milk

Instructions:

1. In a medium saucepan, combine cream, milk, and sugar. Heat over medium heat, stirring occasionally, until sugar dissolves and mixture simmers.
2. Remove from heat and stir in melted butter, vanilla extract, and split vanilla bean. Let steep for 30 minutes to allow flavors to meld.
3. Strain the mixture through a fine-mesh sieve into a clean container. Discard the vanilla bean.
4. Whisk in sweetened condensed milk until fully incorporated.
5. Chill the mixture in the refrigerator for at least 2 hours or overnight.
6. Churn the mixture in an ice cream maker according to manufacturer’s instructions.
7. Freeze for at least 2 hours before serving.

Cooking Time: Approximately 45 minutes (including steeping time)

Easy No-Churn Vanilla Ice Cream with Evaporated Milk

Easy No-Churn Vanilla Ice Cream with Evaporated Milk
This recipe yields a creamy and delicious vanilla ice cream without the need for an ice cream maker or heavy machinery. With just a few simple ingredients, you can enjoy homemade ice cream in no time!

Ingredients:
– 1 1/2 cups heavy cream
– 1/2 cup evaporated milk
– 1 tsp pure vanilla extract

Instructions:

1. In a large mixing bowl, combine the heavy cream and evaporated milk.
2. Whisk until well combined and smooth.
3. Add the vanilla extract and whisk to combine.
4. Cover the bowl with plastic wrap and refrigerate for at least 4 hours or overnight.
5. Once chilled, pour the mixture into an airtight container and place it in the freezer.
6. Every 30 minutes, remove the container from the freezer and use a fork to scrape the mixture and break up any ice crystals that have formed. Repeat this process for 2-3 hours, or until the desired consistency is reached.

Cooking Time: None
Chilling Time: At least 4 hours or overnight

French Vanilla Ice Cream with Heavy Cream and Milk

French Vanilla Ice Cream with Heavy Cream and Milk
Savor the rich flavor of French vanilla ice cream made with heavy cream and milk. This classic recipe is a perfect combination of creamy texture and sweet, velvety taste.

Ingredients:

– 2 cups heavy cream
– 1 cup whole milk
– 1/2 cup granulated sugar
– 1 tsp pure vanilla extract

Instructions:

1. In a medium-sized mixing bowl, whisk together the heavy cream, whole milk, and granulated sugar until the sugar is fully dissolved.
2. Add the pure vanilla extract to the mixture and whisk until combined.
3. Cover the bowl with plastic wrap and refrigerate the mixture for at least 2 hours or overnight.
4. Once chilled, pour the mixture into an ice cream maker and churn according to the manufacturer’s instructions.
5. Once the ice cream is almost fully churned, transfer it to an airtight container and place it in the freezer to harden for at least 2 hours.

Cooking Time: 2-4 hours (depending on the ice cream maker)

Vanilla Custard Ice Cream with Whole Milk and Egg Yolks

Vanilla Custard Ice Cream with Whole Milk and Egg Yolks
A classic recipe that requires just a few simple ingredients and some patience. This vanilla custard ice cream is made with whole milk, egg yolks, and a touch of sweetness.

Ingredients:

– 2 cups whole milk
– 1/2 cup granulated sugar
– 4 large egg yolks
– 1 tsp pure vanilla extract

Instructions:

1. In a medium saucepan, combine the milk, sugar, and salt. Heat over medium heat, stirring occasionally, until the sugar has dissolved and the mixture is just simmering.
2. In a small bowl, whisk together the egg yolks. Gradually add a little of the warm milk mixture to the egg yolks, whisking constantly to prevent scrambling.
3. Once the eggs are fully incorporated into the milk mixture, return the saucepan to medium heat and cook for an additional 5-7 minutes, or until the custard thickens slightly.
4. Remove from heat and stir in the vanilla extract. Allow the custard to cool to room temperature.
5. Cover and refrigerate for at least 2 hours or overnight.
6. Churn the cooled custard in an ice cream maker according to manufacturer’s instructions.

Cooking Time: 15-20 minutes

Lactose-Free Vanilla Ice Cream with Almond Milk

Lactose-Free Vanilla Ice Cream with Almond Milk
Enjoy a deliciously smooth and creamy ice cream experience without the dairy! This recipe uses almond milk as a substitute, making it perfect for those with lactose intolerance or preferences.

Ingredients:

– 1 1/2 cups almond milk
– 1/4 cup granulated sugar
– 1/4 teaspoon kosher salt
– 1/2 teaspoon pure vanilla extract

Instructions:

1. In a medium-sized bowl, whisk together the almond milk, sugar, and salt until dissolved.
2. Add in the vanilla extract and whisk until combined.
3. Cover the bowl with plastic wrap and refrigerate for at least 2 hours or overnight to allow the mixture to chill and infuse.
4. Once chilled, pour the mixture into an ice cream maker and churn according to manufacturer’s instructions.
5. Once frozen, scoop and serve! Alternatively, you can also place the mixture in a shallow metal pan or a 9×13-inch baking dish and freeze for about 2-3 hours, stirring every 30 minutes until the desired consistency is reached.

Cooking Time: 2 hours (chilling) + 20-30 minutes (churning)

Vegan Vanilla Ice Cream with Coconut Milk

Vegan Vanilla Ice Cream with Coconut Milk
Make a delicious vegan vanilla ice cream at home using coconut milk as a creamy substitute. This simple recipe is perfect for hot summer days or anytime you crave a cool treat.

Ingredients:

– 1 can (14 oz) full-fat coconut milk
– 1/2 cup granulated sugar
– 1 tsp pure vanilla extract
– Pinch of salt

Instructions:

1. In a blender, combine the coconut milk, sugar, vanilla extract, and salt.
2. Blend on high speed until smooth and creamy, stopping to scrape down the sides as needed.
3. Pour the mixture into an ice cream maker and churn according to manufacturer’s instructions.
4. Once churned, transfer the ice cream to a freezer-safe container and freeze for at least 2 hours to set.
5. Enjoy your creamy vegan vanilla ice cream!

Cooking Time: 2-3 hours (including freezing time)

Vanilla Ice Cream with Sweetened Condensed Milk

Vanilla Ice Cream with Sweetened Condensed Milk
Sweet Vanilla Ice Cream with Sweetened Condensed Milk Recipe

Summary: Make a creamy and indulgent vanilla ice cream using sweetened condensed milk, perfect for hot summer days or as a dessert to impress.

Ingredients:

– 2 cups heavy cream
– 1 cup whole milk
– 1/2 cup granulated sugar
– 1 tsp pure vanilla extract
– 1 cup sweetened condensed milk

Instructions:

1. In a medium-sized bowl, whisk together the heavy cream, whole milk, and granulated sugar until the sugar is fully dissolved.
2. Add the vanilla extract to the mixture and whisk well to combine.
3. Cover the bowl with plastic wrap and refrigerate for at least 2 hours or overnight to allow the mixture to chill and infuse with the vanilla flavor.
4. Remove the mixture from the refrigerator and pour it into an ice cream maker.
5. Add the sweetened condensed milk to the mixture and churn according to the manufacturer’s instructions until the desired consistency is reached (about 20-25 minutes).
6. Transfer the ice cream to an airtight container and place it in the freezer to harden for at least 2 hours before serving.

Cooking Time: 20-25 minutes

Vanilla Ice Cream with Brown Sugar and Whole Milk

Vanilla Ice Cream with Brown Sugar and Whole Milk
Elevate your ice cream game with this classic combination of rich vanilla, sweet brown sugar, and creamy whole milk. This recipe yields a smooth, velvety texture and a depth of flavor that’s hard to resist.

Ingredients:

– 2 cups whole milk
– 1 cup granulated sugar
– 1/4 cup light brown sugar
– 1 tsp pure vanilla extract

Instructions:

1. Combine the milk, granulated sugar, and brown sugar in a medium saucepan.
2. Whisk until the sugars are fully dissolved.
3. Bring the mixture to a simmer over medium heat, then reduce the heat to low and cook for 5 minutes.
4. Remove from heat and stir in the vanilla extract.
5. Let the mixture cool to room temperature.
6. Cover and refrigerate for at least 2 hours or overnight.
7. Once chilled, pour the mixture into an ice cream maker and churn according to manufacturer’s instructions.
8. Transfer the finished ice cream to an airtight container and freeze for at least 2 hours before serving.

Cooking Time: 5 minutes

Total Time: 3-4 hours (including chilling time)

Vanilla Ice Cream with Honey and Milk

Vanilla Ice Cream with Honey and Milk
This classic ice cream recipe gets a boost of flavor from the addition of honey and milk, creating a creamy and sweet treat perfect for hot summer days. With just a few simple ingredients, you can whip up a batch in no time.

Ingredients:

– 2 cups heavy cream
– 1 cup whole milk
– 1/2 cup granulated sugar
– 1 tsp pure vanilla extract
– 2 tbsp honey

Instructions:

1. In a medium saucepan, combine the heavy cream, whole milk, and granulated sugar. Heat over medium heat, stirring occasionally, until the sugar has dissolved and the mixture is hot but not boiling.
2. Remove from heat and stir in the vanilla extract and honey until well combined.
3. Let the mixture cool to room temperature, then cover and refrigerate for at least 2 hours or overnight.
4. Once chilled, pour the mixture into an ice cream maker and churn according to manufacturer’s instructions.
5. Transfer the churned ice cream to an airtight container and freeze for at least 2 hours before serving.

Cooking Time: None (chilling time: 2 hours or overnight)

Vanilla Ice Cream with Maple Syrup and Milk

Vanilla Ice Cream with Maple Syrup and Milk
Elevate your ice cream game with this classic combination of rich vanilla and sweet maple syrup, all wrapped up in a creamy milk-based treat.

Ingredients:

– 2 cups heavy cream
– 1 cup whole milk
– 1/2 cup granulated sugar
– 1 tsp pure vanilla extract
– 2 tbsp pure maple syrup

Instructions:

1. In a medium saucepan, combine the heavy cream, whole milk, and granulated sugar. Heat over medium heat, stirring occasionally, until the sugar dissolves and the mixture simmers.
2. Remove from heat and stir in the vanilla extract and maple syrup. Let it cool to room temperature.
3. Cover and refrigerate for at least 2 hours or overnight.
4. Pour the chilled mixture into an ice cream maker and churn according to manufacturer’s instructions.
5. Once set, scoop and serve immediately.

Cooking Time: None (refrigeration time included)

Vanilla Ice Cream with Bourbon and Whole Milk

Vanilla Ice Cream with Bourbon and Whole Milk
Elevate your ice cream game with this rich and creamy recipe that combines the smoothness of whole milk, the warmth of bourbon, and the classic flavor of vanilla.

Ingredients:

– 2 cups whole milk
– 1 cup heavy cream
– 1/2 cup granulated sugar
– 1 tsp pure vanilla extract
– 2 tbsp bourbon whiskey

Instructions:

1. In a medium saucepan, combine milk, heavy cream, and sugar. Heat over medium heat, stirring occasionally, until the sugar has dissolved and the mixture is hot but not boiling.
2. Remove from heat and stir in vanilla extract and bourbon whiskey. Let it steep for at least 30 minutes to allow the flavors to meld.
3. Chill the mixture in the refrigerator for at least 2 hours or overnight.
4. Once chilled, pour the mixture into an ice cream maker and churn according to manufacturer’s instructions.
5. Freeze the ice cream for at least 2 hours before serving.

Cooking Time: 30 minutes + chilling time

Vanilla Ice Cream with Cinnamon and Milk

Vanilla Ice Cream with Cinnamon and Milk
Elevate your ice cream game with this simple recipe that combines the richness of vanilla and the warmth of cinnamon. Perfect for a quick dessert or snack, this creamy treat is sure to please.

Ingredients:

– 2 cups heavy cream
– 1 cup whole milk
– 1/2 cup granulated sugar
– 1 tsp pure vanilla extract
– 1/4 tsp ground cinnamon

Instructions:

1. In a medium saucepan, combine cream, milk, and sugar. Heat over medium heat, stirring occasionally, until the sugar has dissolved and the mixture is hot but not boiling.
2. Remove from heat and stir in vanilla extract and cinnamon. Let it cool to room temperature.
3. Cover and refrigerate for at least 2 hours or overnight.
4. Once chilled, pour the mixture into an ice cream maker and churn according to manufacturer’s instructions.
5. Transfer the churned ice cream to an airtight container and freeze for at least 2 hours before serving.

Cooking Time: 10-15 minutes (heating), 2 hours or overnight (chilling)

Vanilla Ice Cream with Nutmeg and Whole Milk

Vanilla Ice Cream with Nutmeg and Whole Milk
Rich and creamy vanilla ice cream infused with the warm, aromatic flavor of nutmeg. Perfect for a hot summer day or as a sweet treat any time of year.

Ingredients:

– 2 cups whole milk
– 1 cup heavy cream
– 1/2 cup granulated sugar
– 1 tsp pure vanilla extract
– 1/4 tsp ground nutmeg

Instructions:

1. In a medium saucepan, combine the whole milk, heavy cream, and granulated sugar. Heat over medium heat, stirring occasionally, until the sugar has dissolved and the mixture is hot but not boiling.
2. Remove from heat and stir in the pure vanilla extract and ground nutmeg. Let cool to room temperature.
3. Cover and refrigerate for at least 2 hours or overnight.
4. Once chilled, pour the mixture into an ice cream maker and churn according to manufacturer’s instructions.
5. Transfer the churned ice cream to an airtight container and freeze for at least 2 hours before serving.

Cooking Time: None ( chilling time: 2-12 hours)

Vanilla Ice Cream with Lavender and Milk

Vanilla Ice Cream with Lavender and Milk
Elevate your dessert game with this unique and creamy ice cream recipe infused with the subtle flavor of lavender. This refreshing treat is perfect for warm weather or as a special treat any time of the year.

Ingredients:

– 2 cups heavy cream
– 1 cup whole milk
– 1/4 cup granulated sugar
– 1 tsp vanilla extract
– 1/4 cup dried lavender buds

Instructions:

1. In a medium saucepan, combine cream, milk, and sugar. Heat over medium heat, stirring occasionally, until the sugar dissolves and the mixture is hot but not boiling.
2. Remove from heat and stir in vanilla extract. Let steep for 10-15 minutes to allow the flavors to meld.
3. Strain the mixture through a fine-mesh sieve into a clean container. Discard lavender buds.
4. Chill the mixture in the refrigerator for at least 2 hours or overnight.
5. Churn the mixture according to your ice cream maker’s instructions.
6. Transfer the churned ice cream to an airtight container and freeze for at least 2 hours before serving.

Cooking Time: 15 minutes
Chilling Time: At least 2 hours or overnight

Vanilla Ice Cream with Rose Water and Milk

Vanilla Ice Cream with Rose Water and Milk
Elevate your ice cream game with this unique recipe that combines the creamy richness of vanilla with the subtle, floral notes of rose water. Perfect for a warm summer evening or as a special treat any time of the year.

Ingredients:

– 2 cups heavy cream
– 1 cup whole milk
– 1/2 cup granulated sugar
– 1 tsp pure vanilla extract
– 1 tbsp rose water
– Pinch of salt

Instructions:

1. In a medium saucepan, combine the cream, milk, sugar, and salt. Heat over medium heat, stirring occasionally, until the sugar has dissolved and the mixture is hot but not boiling.
2. Remove from heat and stir in the vanilla extract and rose water.
3. Let the mixture cool to room temperature, then cover and refrigerate for at least 2 hours or overnight.
4. Once chilled, pour the mixture into an ice cream maker and churn according to manufacturer’s instructions.
5. Transfer the finished ice cream to an airtight container and freeze for at least 2 hours before serving.

Cooking Time: Approximately 10-15 minutes (including cooling time)

Vanilla Ice Cream with Cardamom and Whole Milk

Vanilla Ice Cream with Cardamom and Whole Milk
Elevate your ice cream game with this unique recipe that combines the warmth of cardamom with the richness of whole milk and vanilla. This creamy treat is perfect for a hot summer day or as a special dessert.

Ingredients:

– 2 cups whole milk
– 1 cup heavy cream
– 1/4 cup granulated sugar
– 1 tsp pure vanilla extract
– 1/2 tsp ground cardamom

Instructions:

1. Combine milk, heavy cream, and sugar in a medium saucepan. Heat over medium heat, stirring occasionally, until the sugar has dissolved and the mixture is hot but not boiling.
2. Remove from heat and stir in vanilla extract and ground cardamom. Let it steep for 30 minutes to allow the flavors to meld together.
3. Strain the mixture into a clean container and refrigerate until chilled.
4. Churn the mixture in an ice cream maker according to manufacturer’s instructions.
5. Once churned, transfer the ice cream to an airtight container and freeze for at least 2 hours before serving.

Cooking Time: 30 minutes + chilling time

Vanilla Ice Cream with Matcha and Milk

Vanilla Ice Cream with Matcha and Milk
Elevate your ice cream game with this unique and refreshing matcha vanilla combination. The subtle bitterness of the matcha perfectly balances the sweetness of the vanilla, creating a one-of-a-kind flavor experience.

Ingredients:

– 2 cups heavy cream
– 1 cup whole milk
– 1/4 cup granulated sugar
– 1 tsp pure vanilla extract
– 1 tsp matcha powder (ceremonial or premium grade recommended)

Instructions:

1. In a medium saucepan, combine the heavy cream, whole milk, and sugar. Heat over medium heat, stirring occasionally, until the sugar dissolves and the mixture starts to simmer.
2. Remove from heat and stir in the vanilla extract and matcha powder. Let steep for at least 30 minutes to allow the flavors to meld together.
3. Strain the mixture through a fine-mesh sieve into a clean container. Cover and refrigerate until chilled, at least 4 hours or overnight.
4. Once chilled, pour the mixture into an ice cream maker and churn according to manufacturer’s instructions.
5. Transfer the churned ice cream to an airtight container and freeze for at least 2 hours before serving.

Cooking Time: 30 minutes (steeping time) + churning time (dependent on machine)

Vanilla Ice Cream with Coffee and Whole Milk

Vanilla Ice Cream with Coffee and Whole Milk
This recipe combines the classic flavors of vanilla ice cream with a boost of coffee and whole milk, creating a rich and creamy dessert perfect for any occasion.

Ingredients:

– 2 cups whole milk
– 1 cup heavy cream
– 1/2 cup granulated sugar
– 1 tsp pure vanilla extract
– 1/4 cup strong brewed coffee (cooled)
– Pinch of salt

Instructions:

1. In a medium-sized bowl, whisk together the milk, heavy cream, and sugar until the sugar is fully dissolved.
2. Add the vanilla extract and whisk to combine.
3. Stir in the cooled coffee and salt until well combined.
4. Cover the mixture and refrigerate for at least 2 hours or overnight to allow the flavors to meld.
5. Pour the mixture into an ice cream maker and churn according to manufacturer’s instructions.
6. Once churned, transfer the ice cream to an airtight container and store in the freezer.

Cooking Time: None (chill time included)

Vanilla Ice Cream with Chocolate Swirls and Milk

Vanilla Ice Cream with Chocolate Swirls and Milk
Enjoy a classic dessert with a twist by making your own vanilla ice cream and swirling in rich chocolate goodness!

Ingredients:

– 2 cups heavy cream
– 1 cup whole milk
– 1/2 cup granulated sugar
– 1 tsp pure vanilla extract
– 1/4 cup semi-sweet chocolate chips

Instructions:

1. In a medium-sized bowl, whisk together the heavy cream, whole milk, and granulated sugar until the sugar is fully dissolved.
2. Add in the pure vanilla extract and whisk to combine.
3. Cover the mixture and refrigerate for at least 2 hours or overnight to allow the flavors to meld.
4. Pour the chilled mixture into an ice cream maker and churn according to manufacturer’s instructions.
5. Melt the chocolate chips in a double boiler or in the microwave in 30-second increments, stirring between each interval until smooth.
6. Once the ice cream is almost fully churned, swirl in the melted chocolate to create a marbled effect.
7. Transfer the ice cream to an airtight container and freeze for at least 2 hours before serving.

Cooking Time: 20-30 minutes (depending on the ice cream maker)

Summary

Get ready to indulge in the creamiest vanilla ice cream recipes ever! This article presents 20 delicious variations that use milk and sweet twists to take your taste buds on a thrill ride. From classic homemade vanilla to lactose-free, vegan, and boozy concoctions, there’s something for everyone. Discover how to make rich vanilla bean ice cream with condensed milk, easy no-churn ice cream with evaporated milk, and many more mouthwatering treats. Whether you’re a fan of traditional flavors or looking to spice things up, these creamy vanilla ice cream recipes are sure to satisfy your sweet tooth.

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