In a large bowl, whip the heavy cream until stiff peaks form.
In a separate bowl, whisk together the sweetened condensed milk, orange juice, orange zest, and vanilla extract until well combined.
Gently fold the condensed milk mixture into the whipped cream until just combined. Be careful not to overmix.
Pour the mixture into a freezer-safe container. Cover tightly and freeze for at least 6 hours, or until firm.
Before serving, let the ice cream sit at room temperature for a few minutes to soften slightly. Scoop and enjoy!
Notes
For an extra burst of flavor, you can add a few drops of orange food coloring, though it's not necessary. This ice cream is best enjoyed within a week of making it.