In the bowl of a food processor combine all of the ingredients except the milk and process until the sugar is dissolved, approximately 1 minute. Transfer the mixture to a mixing bowl and whisk in the milk. Cover the bowl and place in the refrigerator until the mixture reaches 40 degrees F or below, approximately 1 hour.
Pour the mixture into an ice cream maker and process until it is the consistency of soft serve ice cream. You may serve now or transfer to a lidded container and place in freezer until firm, approximately 3 hours.