Chill a mixing bowl and whisk in the freezer for 15 to 20 minutes
Whip 2 cups heavy cream until soft peaks form
In a separate bowl, mix 1 can sweetened condensed milk with 1 teaspoon vanilla extract
Fold the whipped cream into the condensed milk mixture until combined
Add any mix-ins such as chocolate chips, fruit, cookie pieces, or nuts
Pour the mixture into a freezer-safe container
Cover tightly with a lid or plastic wrap
Freeze for 6 to 8 hours or until firm
Let sit at room temperature for 5 to 10 minutes before scooping
Serve and store leftovers in the freezer