Chill a large mixing bowl and whisk in the freezer for about 10-15 minutes. Pour in the heavy cream and whip until thickened and soft peaks form, about 3-4 minutes.

Gently fold in sweetened condensed milk, vanilla extract, raspberry extract, and lemon extract into the whipped cream until smooth.

Add blue gel food coloring gradually and fold until the desired blue hue is achieved.

Pour the mixture into an airtight container, smooth the top, cover with plastic wrap, and freeze for at least 5-6 hours until firm.

Let the ice cream sit at room temperature for 5-10 minutes before serving to soften it.