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Mix together the cherries, 1/2 cup sugar, the lemon juice, and balsamic vinegar. Put this aside to allow the flavors to come together.
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Drain the cherries, setting the liquid aside.
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Divide the cherries in half. Take one half and puree them in a blender.
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Using an electric mixer, beat together the milk and remaining 1/2 cup sugar, for about 2 minutes. You want the sugar to be completely dissolved.
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To the milk mixture, add in the cherry juice, cream, pureed cherries, and vanilla.
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Pour this cherry and milk mixture into your ice cream maker and following the machine’s instructions, freeze it for about 20 minutes. Add the rest of the cherries and freeze for 5 more minutes.
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The ice cream will come out of the maker creamy and delicious! If you prefer it to be a bit harder, it will harden up in the freezer.