With a hand mixer, beat the heavy whipping cream with the sugar until peaks form, about 5 minutes.
Add the milk, pumpkin puree, pumpkin pie spice, and vanilla, then beat again until peaks form again.
Pour the mixture into a 9 x 5 inch loaf pan and smooth it with the back of a spoon or knife.
Freeze ice cream for at least 6 hours before serving. It should be hard throughout and will need to thaw for a several minutes at room temperature before it can be scooped.