Add the heavy cream, vanilla extract, and pinch of salt to a large bowl or bowl of a stand mixer fitted with the whisk attachment. Whip on low speed. 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 until completely incorporated.

Transfer to a 2-qt freezer-safe container. Freeze for at least 4-6 hours or overnight.