In large bowl, combine ingredients; mix well. Pour into ice cream freezer container. Freeze according to manufacturer's instructions. Freeze leftovers.
Refrigerator-Freezer Method: Omit half-and-half. In large bowl, combine sweetened condensed milk and vanilla; mix well. Fold in 2 cups whipping cream. Pour into 9x5-inch loaf pan or other 2-quart container; cover. Freeze 6 hours or until firm. Freeze leftovers.