1. In a large (2 1/2- to 3-quart) saucepan, whisk together the dried milk, sugar, and tapioca starch.

  2. Add the remaining ingredients and whisk until smooth.

  3. Set the saucepan over medium-high heat, and cook the ice cream base, stirring constantly, until it becomes just slightly thicker than heavy cream; it will thinly coat the spoon or spatula you're using.

  4. Remove the pan from the heat, and pour the base into a heatproof mixing bowl, stirring occasionally as it cools to prevent a skin from forming.

  5. Once the base has cooled to just slightly warmer than room temperature, lay a piece of plastic wrap on the surface, again to prevent a skin from forming.

  6. Transfer the bowl to the refrigerator for at least 4 hours, to chill completely.

  7. Freeze the base in an ice cream maker according to the manufacturer's directions.

  8. Transfer the ice cream to a covered container, and freeze until ready to serve.

  9. The ice cream may firm up a bit as it freezes, so leave it at room temperature for 10 to 15 minutes to soften before serving, if necessary.