First, separate the eggs into whites and yolks, using only the yolks. Mix the egg yolks with the sugar and milk, and boil slowly over low heat. Then, strain the mixture through a cloth to make it smooth.
Next, add the vanilla essence. Cool the ice cream base with vanilla essence and put it in the freezer. The ice cream is then chilled in the freezer and ready to serve.
Ice cream sold in stores is made in a slightly different way. It is made by mixing a kind of ice cream base, sugar, vanilla extract, and gelatin, agar, or chemical glue as a stabilizer to keep the ice cream in shape.