No, you do not need an ice cream machine for this.
2 cups heavy whipping cream (about 40% milk fat)
1 can sweetened condensed milk
Whip the whipping cream until stiff peaks are formed. Mix in the sweetened condensed milk and the flavor mix-ins then freeze in an air tight container for 3-4 hours. I think it tastes better than store-bought ice cream and isn't as overly rich as other homemade ice creams that I have tried.
*As for the flavor mix-ins, I have made the following:
vanilla ice cream: Add vanilla
chocolate ice cream: Add cocoa to the desired "chocolatiness" that you like
mint chocolate chip: Add mint flavor extract and mini chocolate chips (however, I did regret the chocolate chips because when frozen they are just big obstacles to getting to the minty goodness of the ice cream).
strawberry: I added fresh strawberries pureed, but when they froze they made the ice cream icy so I would suggest adding strawberry flavor extract and some (not too many) fresh strawberries if you want.
chocolate with peanut butter ribbons: I made chocolate ice cream by adding cocoa and then I added ribbons of melted peanut butter and mixed it lightly to distribute through out the ice cream, but not so much that it blends into the ice cream.
chocolate with caramel ribbons: Same idea as the peanut butter ribboned ice cream but with caramel.
You can mix in whatever, just remember the freezing factor like with the strawberries and chocolate chips.
Last week we went to some friends house for dinner. I was asked to bring a dessert. I made chocolate and vanilla ice cream with sugar cones for the kids, and I made a blackberry cobbler for the adults. We topped the cobbler with the vanilla ice cream. It was a hit all around the board.