Cook the Raspberries: In a saucepan over medium-low heat, combine 2 cups frozen raspberries, 1/2 cup granulated sugar, and 1 teaspoon lemon juice. Stir constantly until raspberries are fully melted and begin to separate. Remove from heat and cool completely.
Whip the Cream: In a large mixing bowl, use a handheld mixer to beat 2 cups heavy cream until firm peaks form.
Combine the Ingredients: Add the cooled raspberry mixture, 14 ounce can sweetened condensed milk, and 1 teaspoon pure vanilla extract to the whipped cream. Beat until the mixture thickens again, though it will not be as stiff as before.
Freeze the Ice Cream: Pour the mixture into a 9 x 5-inch loaf pan. Cover and freeze for at least 6 hours or until completely frozen.
Serve: Let the ice cream sit at room temperature for 5 to 10 minutes before scooping. Enjoy!
Notes
Make-Ahead Tips: This ice cream can be made up to 2 months in advance and kept frozen in an airtight container.Storage: Store in the freezer, tightly covered, for up to 2 months.Customization Ideas: Add mini chocolate chips, a swirl of lemon curd, or top with fresh berries before serving.Texture Tip: If you dislike raspberry seeds, strain the raspberry mixture after cooking and only add the liquid to the whipped cream.