Step 1

In a small bowl or large liquid measuring cup, combine orange juice and sugar, mixing until dissolved.

Step 2

Stir in orange zest.

Step 3

Add vanilla extract, milk, and whipping cream, mixing to combine.

Step 4

Pour mixture into a Ninja Creami pint, being careful not to exceed the max fill line on the pint.

Step 5

Close the lid and transfer to a level surface in your freezer. Freeze for at least 24 hours.

Step 6

Remove from freezer and take off the lid. Place the pint into the outer bowl apparatus and secure the outer bowl lid. Lock the outer bowl into place in the Ninja Creami machine.

Step 7

Press the Ice Cream button and let the cycle run, which should take about 2 minutes.

Step 8

Remove pint from the machine and check the texture. If it's a bit crumbly, return the pint to the machine and use the Re-spin button to spin again. If it's still crumbly after that, add a tablespoon of milk and re-spin again.

Step 9

Scoop, serve, and enjoy!