Place milk and sugar in a large mixing bowl. Mix with a hand mixer for two minutes on low speed.
Stir in heavy cream, vanilla, and Nutella. It might take a little time for Nutella to mix in.
At this point store chilled in refrigerator until ready to make ice cream, or go ahead and add mixture to chilled Cuisinart ice cream maker and start mixing
put ice cream in a freezer ice cream container and store until ready to serve