Use a hand mixer on low speed to combine the whole milk and granulated sugar; mix until sugar is dissolved (about 2 mins).
Stir in the heavy cream and vanilla.
Pour the mixture into the frozen bowl in the ice cream machine. Mix for 20-25 minutes or until thickened. Stir in chocolate chips in the last 5 minutes.
The ice cream will have a creamy texture at this point. Enjoy as is or place in a container to freeze for about 2 hours for a firmer consistency. Store in an airtight container in the freezer.