BEAT half-and-half, sweetened condensed milk and vanilla extract in large mixer bowl until combined; freeze for 2 hours. Beat on medium speed for 30 seconds; freeze for additional 4 hours or until firm. Or, use ice cream maker, freezing according to manufacturer's directions.
FOR CHOCOLATE CHIP ICE CREAM: Add 1 cup NESTLÉ® TOLL HOUSE® Semi-Sweet Chocolate Mini Morsels halfway through freezing period. Continue freezing as above.
FOR FRUIT-FLAVORED ICE CREAM: Use 3 cups half-and-half, 2 to 3 cups fruit pulp, 1 1/4 cups (14-ounce can) NESTLÉ® CARNATION® Sweetened Condensed Milk, and 1/2 cup granulated sugar; omit vanilla extract. Freeze as above.
NOTE: If using sweetened frozen fruit, omit sugar.