In a mixing bowl, whisk together the whole milk, heavy cream, sugar, and vanilla pudding mix until smooth.
Add vanilla extract and continue mixing until well combined.
Pour the mixture into a Ninja Creami pint container and freeze for at least 24 hours.
Once frozen, process the mixture in the Ninja Creami on the ice cream setting until smooth and creamy.
If needed, add a splash of milk and re-spin for a softer texture.
Serve immediately or store in the freezer until ready to enjoy.