Things You'll Need
Sprinkle your packet of unflavored gelatin over the water and let it stand for 5 minutes. Meanwhile, heat your milk to almost a simmer on your stovetop. Remove it from the heat.
Stir in the sugar, vanilla and salt with a wire whisk until it's dissolved all the way, which is about 2 minutes. Next, stir the mixture into the gelatin mixture and let it cool. Stir in your whipping cream, then cover it and refrigerate for 6 hours.
Transfer the cold mixture into your ice cream machine and process it for about 20 minutes or so until it's creamy, like Dairy Queen's creamy goodness!