Freeze the milk/sugar/vanilla mixture from the first step in your ice cream maker, following the manufacturer's instructions. If you want to add any fruit to your ice cream, add it when the ice cream is nearly finished churning so that the fruit will incorporate evenly into the ice cream.
Transfer the ice cream to an airtight container and freeze for 2-3 hours before serving. This step is important, since this ice cream is creamier and has a tendency to melt faster than regular ice cream. I blame the lack of eggs.