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Chill the bowl and beater for 15 minutes at least before whipping the cream.
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Meanwhile grate the orange zest (Pic 2) and squeeze orange juice (Pic 1) and keep them ready.
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Add cream , condensed milk (Pic 3) , fresh orange juice (Pic 4) to the chilled bowl.
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Also add few drops of vanilla extract and start whipping in medium speed (Pic 5).
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After 9 minutes (approx) when the cream gets thicken, do add a drop of food color (optional, Pic 6).
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In another 2 minutes you can see cream leaving trails while whipping (Pic 7).
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Remember that these ice cream wont whip to stiff peaks since it has orange juice it.
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Just the cream gets thicken at one stage and in low fat cream it thickens like shown at 2:48 minutes in the video.
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If using heavy cream it looks like shown at 3:15 minutes (30 more seconds from Pic 7).
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Do stop beating (Pic 8), wipe the sides (Pic 9), wrap and store in freezer for 6 hours at least.
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Using warm scoop or spatula do scoop out the ice cream (Pic 10) and serve chilled.