In a large bowl, combine freshly squeezed orange juice, granulated sugar, orange zest, kosher salt, and vanilla extract. Whisk until sugar dissolves completely.

Stir in the milk and heavy whipping cream into the orange mixture until fully combined.

Pour the well-blended mixture into your ice cream maker and churn at medium speed for 20 to 30 minutes.

Once thickened, transfer to a freezer-safe container, cover tightly, and freeze overnight.