Shake up coconut milk cans, then open and pour into large bowl. Whisk in vanilla and sugar. Whisk until smooth and then pour into ice cream maker for 20-25 minutes.
If you don't have an ice cream maker, pour into a freezer safe tupperware. Put in freezer and stir about every 25 minutes, until firm enough to eat.
Before serving, especially if ice cream has been in the freezer for 8 or more hours, get it out to soften about 15 minutes before eating.