I have struggled with goats milk ice cream because of its tendency to form large ice crystals, whilst not having a cream separator or ice cream maker to make it smoother.
I found a great recipe the other day, simple but a bit messy!
Place 1/2 cup of milk in a sandwich bag with 1 tbsp sugar and 1/4 tsp vanilla essence.
Seal this bag, and place inside a larger sandwich bag with 2 cups ice and 1/2 cup rock salt.
Hold the bags in a towel as they will get very cold.
Shake so as to keep mixing the milk mixture, until it freezes, it can take up to about half an hour.
My first attempt didn't have enough ice, so it didn't quite freeze, but made a lovely icecream sundae/slushy/milkshake, but the second attempt made a very passable vanilla ice cream - great texture and flavour!
I have also heard it can be adapted to other flavours.