In a medium sized bowl, beat together the heavy cream and sugar until soft peaks begin to form, about five minutes.
Once the cream has been whipped, gently fold in the condensed milk, orange zest, orange juice, and vanilla extract until the ingredients are evenly distributed throughout the mixture.
Pour the mixture into a 9x5 loaf pan.
Tightly wrap the container in plastic wrap and place in the freezer.
Allow the ice cream to freeze until it is fully set. Depending on the temperature of your freezer, this will take anywhere between 4 and 6 hours, or up to overnight.
Serve and enjoy!
Notes
This no churn ice cream can be stored in the freezer for up to two months.