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Soak gelatin in 1/4 cup cold water
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In a saucepan over medium heat, heat up milk until hot, but not boiling (bubbles around the edge and begins to steam)
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Remove from heat and add in the sugar, gelatin, salt and vanilla. Stir to combine
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Transfer mixture to a bowl or large measuring glass
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Allow mixture to cool slightly, then stir in the whipping cream
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Chill for 5 or 6 hours before freezing in the ice cream maker according to models directions (our took between 20 - 30 minutes to get nice and thick)
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Serve quickly for a more authentic soft serve style
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Or place in sealed freezer container and store in freezer