I found this recipe that only requires 2 ingredients (heavy whipping cream and sweetened condensed milk) and no special tools or equipment:
The first step is beating the heavy whipping cream until it's stiff:
In a separate bowl, combine the sweetened condensed milk with whatever ingredients you want to use to flavor your ice cream. We used chocolate syrup to turn it into chocolate ice cream and I also baked a small batch of brownies ($1 at Wal-Mart) to mix in.
Then you freeze for 6 hours, and Voila! Home made ice cream.
It tasted really good.
What sort of things do you make in the kitchen with your kids?