In a blender, combine the milk, heavy cream, and sweetened condensed milk.
Blend these ingredients until they are well mixed and smooth.
Add the vanilla extract to the blender.
Blend again briefly to ensure it is distributed evenly.
Add the vanilla ice cream, one scoop at a time, into the blender.
Blend at a medium setting until the mixture is thick and creamy.
Check the texture to make sure it resembles a thick shake.
If necessary, add a little more ice cream to thicken.
Pour the frosty mixture into glasses and serve immediately.
Enjoy your homemade treat!