Dissolve gelatin in 1/2 cup cold milk in medium sized bowl. Dissolve sugar in hot milk. Whisk hot milk in cold milk/gelatin mixture until well blended. Whisk in vanilla and remaining 3 cups cold milk. Pour into ice cream canister. Add 3 cups (750 ml) cold milk and stir. Chill in fridge or freezer until very cold. Process in ice cream freezer as directed. YIELD: 1-1/2 quarts