Using a 4-quart ice cream maker, add the sugar, evaporated milk, sweetened condensed milk, heavy cream, and vanilla extract.

Whisk until the sugar has completely dissolved.

Pour in the whole milk, filling the ice cream canister only about three-quarters full, as the mixture will expand as it churns.

Pack plenty of ice and rock salt around the canister according to your ice cream maker's instructions.

Churn until the ice cream reaches a soft-serve consistency.

A good indicator that it's nearly finished is when the ice cream maker begins to slow down and has to work harder to turn the paddle.