Whisk to combine the milk, sugar and salt until the sugar is dissolved.

Stir in the heavy cream and vanilla.

Pour into cold ice cream maker freezer bowl.

Mix for 20 minutes, or until thickened. The ice cream will have a creamy texture.

Gently stir in frozen M&Ms. Combine, but with as little stirring as possible. More stirring will cause the color to fall off the M&Ms.

Remove from freezer about 15 minutes prior to serving.