Using a hand mixer or a stand mixer fitted with a whisk attachment, whip the heavy cream, sugar, and vanilla extract on medium-high speed until medium peaks form, about 3–4 minutes. Medium peaks are between soft/loose peaks and stiff peaks and are the perfect consistency for topping and piping on desserts. If you accidentally over-whip the cream, and it looks curdled and heavy, pour in a little bit more cold heavy cream, and fold it gently by hand with a spatula until it smooths out.