With Ninja Creami but you can get away with a standard ice cream maker.

makes 2 pots.
1 can coconut milk
1 and a bit pints of milk
1 tsp ish of vanilla essence
2-3 tbs sugar

Dissolve sugar in tiny bit of hot water. Add milks, whisk.

Add vanilla essence. Whisk a bit more.

Taste, it should taste like melted ice cream.

Add other flavourings to taste.
Cocoa powder- tbs or so. Needs careful mixing as hydrophobic.
Artificial flavourings, tsp or so.