In a mixing bowl, combine the milk, heavy cream, sugar, vanilla extract, and kosher salt. Stir until the sugar is completely dissolved and the mixture is well combined.
Pour the ice cream mixture into an 8-10 inch square baking pan, spreading it out evenly.
Place the pan in the freezer for 90 minutes to begin the freezing process. After 90 minutes, remove the pan from the freezer and use a whisk to vigorously stir the mixture, breaking up any frozen chunks and scraping the sides of the pan.
Return the pan to the freezer and continue freezing. Check the mixture after 45 minutes and repeat the whisking process, making sure to scrape the sides of the pan well.
Continue to check and whisk the mixture every 30 minutes for the next couple of hours.
After 3-4 hours of freezing and whisking, the ice cream should reach a soft-serve consistency. You can continue to freeze it for a firmer texture or enjoy it right away as a creamy treat.
Serve the homemade ice cream scooped into bowls or cones, and top with your favorite toppings if desired. Enjoy the rich and creamy flavor of freshly made ice cream!