Add the heavy cream, vanilla extract, and salt to a large bowl or bowl of a stand mixer fitted with the whisk attachment.
Whip on low speed with an electric hand mixer and whisk attachment or with the stand mixer. Once the cream starts to thicken, slowly increase the speed to medium-high and continue to whip until soft peaks form.
Gently fold in the sweetened condensed milk.
Once incorporated, transfer the mixture to a 2-quart freezer-safe container.