Advice on making ice cream without a machine?

I'd really like to make ice cream without a machine and was wondering if anyone had tips/advice based on past experience? I've followed David Lebovitz's directions on his sites, but ended up with somewhat grainy ice cream. Also - I'd like to make ice cream based on soy or coconut milk, and hoping someone could point me to recipes or websites? Thanks!

(I'm avoiding buying a machine - I think either end up using it too little or too much )

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