In a medium saucepan, combine the milk and heavy cream. Heat over medium heat, but do not bring to a boil.
Add the sugar and a pinch of salt, stirring constantly until the sugar is completely dissolved.
Remove from heat and stir in the vanilla extract. Allow the mixture to cool to room temperature.
Pour the cooled mixture into a container with a lid and refrigerate for at least 4 hours, or preferably overnight, to chill completely.
If you have an ice cream maker, pour the chilled base into it and churn according to the manufacturer's instructions. If you don't have a machine, pour the mixture into a freezer-safe container and stir with a fork every hour to prevent ice crystals from forming.
Before serving, let the gelato sit at room temperature for a few minutes to soften slightly. Garnish with fresh fruit or chocolate shavings, if desired.
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