Step 1
Cut the oranges into wedges and press them into a measuring cup, you will need around 3 tablespoons plus 1 teaspoon of the juice. The milk and sugar should be added to a saucepan that has been placed over medium heat, and they should be thoroughly combined.
Bring the ingredients to a boil, then turn the heat down just a bit and stir the mixture until it has reduced by about a third and is bubbling.
Turn off the heat, let it cool completely, and keep stirring until smooth and thick. Pour the orange juice into the milk mixture to avoid a curdled texture, then mix them together until well combined, and set it aside.
Step 2
In a mixing bowl, add the whipping cream, then whisk until frothy, and add the milk mixture to the whipped cream followed by the orange essence and orange food coloring.
Mix together until soft peaks form, then transfer it to a baking dish and spread it evenly. Cover it with the lid, then place it in the freeze, and let it sit for about 8 to 10 minutes or until set and frozen.
Scoop the ice cream into serving bowls, then serve, and enjoy!