1. Combine milk and sugar in small saucepan on low heat and whisk just until sugar has dissolved. This should only take about 1 minute. Remove from heat and whisk in vanilla. Set aside or place on trivet or towel in refrigerator to cool.
2. In large bowl, beat whipping cream with hand mixer for about 3 minutes or until you achieve a whipped cream consistency. Add in sweetened milk and beat another few seconds until everything comes together.