In blender mix fill pitcher 3/4 with milk. Add sugar, vanilla and pudding. Blend util well mixed. Pour into your Ice Cream tub and pour rest of milk to fill line.
Process ice cream according to your ice cream makers instructions.
Enjoy with your favorite topping.
You may substitute the sugar for sugar substitute, use sugar free pudding and fat free milk.
Chocolate; use chocolate pudding and chocolate flavoring
Peppermint; use peppermint chips and peppermint flavoring