Ensure the freezer bowl is frozen. No liquid should be heard when you shake it.
Mix together milk and sugar until the sugar is dissolved. I recommend using a hand mixer here to speed up the process.
Once sugar is dissolved, add the rest of the ingredients and mix together.
Cover and refrigerate mixture for at least 30 minutes.
Turn on the ice cream maker, and slowly pour in the mixture. Let the machine run for about 30 minutes.
Enjoy straight from the machine, or freeze for about two hours for a more solid texture.