Special Equipment: Mix It In Soft-Serve Ice Cream Maker
Place milk and sugar in a medium bowl. Use a hand mixer on low speed for about 1 to 2 minutes or a whisk to mix until the sugar is dissolved. Stir in the heavy cream and mint extract. Add food coloring in drops to reach desired color. If not freezing immediately, cover and refrigerate until ready to use.
Turn on ice cream maker and pour in ingredients. Allow to mix and freeze until desired serving consistency is reached. Begin checking consistency after 12 to 15 minutes of freezing. If ice cream is not thick enough, pour back into the freezer bowl and continue mixing/freezing until desired consistency is reached, checking every few minutes.