In a large bowl, whisk all the ingredients together. Allow mixture to stand for 20 minutes at room temperature. Whisk every 5 minutes to dissolve the sugar.
*I use a Cuisinart ice cream maker, the freezer bowl gets very cold so I don't chill the ice mixture beforehand.
Turn the machine on; pour the mixture into the freezer bowl. Let it mix until thickened about 20 to 25 minutes or according to the manufacturer's instructions. The ice cream will be soft and creamy at this point. If you prefer a firmer consistency transfer the ice cream to an airtight container and place in the freezer for about 2 hours.
Remove from the freezer about 15 mintues before serving.