Mix the milk, sugar, and vanilla in the quart bag. Carefully push the air out of the bag and seal. Place this bag inside the gallon bag. Add crushed ice and several spoons of rock salt to the gallon bag. Remove any excess air and seal. While holding the sealed edge, shake and roll the bag for about 10 min to 15 min. Once the ice cream freezes, open the large bag and remove the ice cream bag. Enjoy your treat right from the bag.
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