Heat milk, sugar, and mint in a saucepan. Whisk occasionally until the sugar has dissolved
Allow to boil gently for about 15 min
Pour milk into a bowl through a strainer to remove mint leaves
Allow the milk to cool to room temperature
Transfer the milk to your ice cream maker and freeze according to the ice maker instructions
Put the ice cream into an airtight container and put it in the freezer for at least 20 minutes before serving to make sure it is frozen