In a medium-sized bowl, gently whisk together the sweetened condensed milk, cold milk, vanilla extract, and salt until they are smoothly combined. This forms the sweet base of your delicious ice cream!
Next, in a large, clean bowl, use an electric mixer to beat the heavy cream until it becomes light, airy, and forms stiff peaks. You'll know it's ready when it holds its shape.
Carefully fold the sweetened milk mixture into the whipped heavy cream. Be gentle to maintain the airiness of the cream – this is key for a wonderfully soft and creamy ice cream texture.
Pour the entire mixture into a shallow 2-quart freezer-safe dish. Cover it tightly to prevent ice crystals and place it in your freezer for at least 4 hours. For an even creamier result, give it a quick stir after about 2 hours, especially around the edges as it begins to harden.
Once your homemade ice cream is firm and scoopable, it's ready to enjoy! Serve immediately for a refreshing summer treat, or store any leftovers in an airtight container in the freezer for up to 10 days.