In a small dish, add water and sprinkle gelatin over. Let sit 5 minutes.
In saucepan, warm milk over medium heat until almost a simmer. Remove from heat and stir in the sugar, vanilla, salt and gelatin mixture, stirring until sugar and mixture is smooth. Pour into a container, and chill for 1 hour.
Stir in the cream, cover and refrigerate overnight.
Pour mixture into an ice cream maker, and churn for about 20 minutes. Pour into container,place plastic wrap directly over the surface of the ice cream and freeze for 6-8 hours.