Start by zesting and juicing fresh lemons to capture their vibrant flavor.

Combine the lemon juice, zest, heavy cream, sweetened condensed milk, sugar, and vanilla extract in a mixing bowl.

Chill the mixture in the refrigerator for a few hours or overnight to ensure it's adequately cold before churning.

Transfer the chilled mixture to the ice cream maker and churn according to the manufacturer's instructions until it reaches a soft-serve consistency.

Transfer the churned ice cream into a freezer-safe container and freeze for several hours or overnight until firm.