Heat the sugar and milk over medium heat until the sugar is fully dissolved and the milk is smooth then add the vanilla and salt. Pour the ice cream base into a bowl, cover and refridgerate until the mixture reads 40 degrees or less. Pour the chilled mixture into an ice cream maker and churn for 20 to 25 minutes. It should resemble soft-serve ice cream. Pour into a storage container and place in the freezer until it becomes firm.