No-churn vanilla pudding ice cream

Heat whole milk and sugar in a big saucepan over medium until the sugar dissolves and the milk comes to a simmer and foams.

Whisk about a cup of the hot milk into the pudding mix to dissolve it without lumps, then whisk it back into the pot.

Whisk continuously over medium heat 2 to 3 minutes until it thickens slightly.

Pour into a bowl and cool completely; it thickens more as it cools. A bowl of ice speeds it up.

Whip the heavy whipping cream with a little vanilla in a stand mixer (or by hand) to medium-stiff peaks, about 3 minutes, without over-whipping.

With a thin metal spoon, fold a little of the whipped cream into the pudding mixture to loosen it, then fold in the rest, cutting through the middle and around the bowl, until no lumps remain, without knocking out the air.

Pour into a freezeable tub, add any sauces, nuts, candy or fruit, spread, tap out air bubbles and put on the lid.

Freeze at least 6 hours, preferably overnight. Let sit 2 to 3 minutes before scooping.