Unless you’re using individual containers, line one 8-inch loaf pans with a sheet of waxed paper, long enough to hang over the sides.
Add the milk to a deep bowl.
Place the vanilla bean halves on a cutting board. Using the tip of a paring knife, scrape the seeds from the pod. Add them to the bowl with the milk. Whisk to blend.
Add the cream to a separate, clean deep bowl, and beat until stiff peaks form. You can do this using a hand mixer, stand mixer, or whisk if you’re up for a little upper arm workout.
Scoop 1/3 of the whipped cream into the bowl with the condensed milk. Stir it in to loosen the mixture.
Add the remaining whipped cream, and this time use a rubber spatula to fold it in. Folding, is a method where you insert you spatula into the center, gently lift, and fold the batter over itself, keeps the ice cream base light and airy.
Spoon the ice cream batter into the prepared containers. Cover, and freeze until firm enough to scoop, about 6 hours. The ice cream will keep in the freezer for up to 2 weeks.