Mix cream, milk, milk powder, sugar, and condensed milk in a saucepan. Stir well while cold, then gently heat over low heat, stirring occasionally.

Once warm (not boiling), add cornstarch while whisking. Continue stirring for 7–10 minutes until thickened like custard, then remove from heat.

Stir in vanilla extract. Let the mixture cool to room temperature—use an ice bath to cool faster if needed.

Pour into molds or containers, cover, and freeze for at least 4 hours or overnight. Let soften at room temp before serving.