When I was in Girl Scouts, we did this thing where we took a gallon bag, put ice halfway, filled it halfway with milk, and shook the bag until it was the consistency of ice cream. As others have said, it tastes literally like milk with the consistency of ice cream but upon doing other research I found that you can add chocolate chips, half and half, vanilla extract and other things to make it more like ice cream.
But homemade ice cream is just milk and ice, along with other flavors (and sugar) as the milk and ice by itself isn’t all that exciting or good, unless you are big into milk.(?)