Combine all ingredients in a medium bowl and whisk well until combine.
Let chill for 30 minutes to an hour.
Pour into your ice cream maker per your maker's instructions. (I used a Cuisinart 1 1/2 quart ice cream maker and it took about 20 minutes to freeze down).
Serve immediately for a soft-serve version or pour into a freezer-safe container and let freeze until hardened. Scoop and enjoy!