Using an ice-cream machine will create a far superior texture. I use
THIS ICE CREAM MAKER (U.S. option
HERE).
To pour the ice cream mix into the machine opening, use a spouted glass measuring jug. It makes the job far easier. I use
THIS JUG (U.S. option
HERE).
Nothing will ever stop home-made ice-cream from becoming rock-solid in the freezer, because ice-cream shops have hybrid coolers that are half-way between a freezer and a fridge. BUT, adding LBG (as Italian ice-cream artisans do) will help.
TIP: Defrost your ice cream in the fridge
for a few hours (the time it takes depends on your fridge temperature) before you intend to eat it. It will soften without melting all around the edges whilst the centre remains hard.
Metric kitchen scales are an inexpensive yet invaluable gadget to ensure accurate measurement of ingredients. Store them upright in a cupboard or over your worktop and they'll only take up a tiny bit of space. Click
HERE for the ones I use. For U.S. option click
HERE.