Place the bowl of your ice cream maker in the freezer overnight.

Add all of the ingredients to a saucepan and whisk well. Heat over medium just until the mixture begins to steam, whisking consistently. Don't allow mixture to come to a full boil. Remove from heat and allow ice cream base to cool before transferring it to a sealable container. Refrigerate until completely chilled. 

Transfer ice cream base to your ice cream maker and churn until thick and ice cream maker begins to bog down.

Either serve ice cream immediately for a soft serve consistency, or transfer to a freezer-safe container and freeze 2 hours. Thaw ice cream for 10 to 15 minutes before serving.