For the base ice cream: Stir the milk, sugar and vanilla together in a medium bowl. Pour 1/2 cup of the mixture into a sandwich-size resealable plastic bag. Make vanilla ice cream or add in your desired flavors to make mint chocolate chip, chocolate or strawberry ice cream. Tightly seal the bag. Put that bag into another sandwich-size resealable plastic bag and tightly seal. Repeat with the remaining batter and desired flavors.
Place the ice and the salt into a 4-quart food storage container with a lid. Put the filled bags into the container and secure the lid. Shake the container until the mixture is frozen and resembles ice cream, about 5 minutes. Remove the bags with the ice cream in it from the outer bag and snip a large piece off one corner of each bag. Pipe the ice cream into small bowls.
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