In a bowl whisk together milk and sugar till sugar is completely dissolved.
Add in the heavy cream, vanilla and mix.
Stir in the finely crushed oreo (4-5 of them) and mix till well combined.
Chill the mixture for 2-4 hours or overnight.
Prepare ice cream according to your ice cream machine manufacturer's instruction. Add in the coarsely chopped oreo pieces towards the last 5 minutes of ice cream churning.