Whisk together 2 cups Hy-Vee heavy whipping cream, 1 (14-oz.) can Hy-Vee sweetened condensed milk, and 1 teaspoon Hy-Vee vanilla extract in a medium bowl.
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Divide cream mixture between 2 (15x9-inch) rimmed baking pans; spread evenly. Freeze 4 hours or until set.
Remove one pan at a time from the freezer. Quickly, use a sharp knife to cut ice cream in half lengthwise, then cut four even segments in each half to form 8 sections.
Use a metal spatula to gently roll each section from one short edge to the other, returning to the freezer if ice cream becomes soft. Transfer to serving bowls and top with desired toppers.