In a pan mix together zest, juice, sugar and eggs.
Add in 1 cup whole milk and vanilla.
Cook the mixture over medium heat, stirring constantly until it comes to a simmer.
Strain through a sieve to remove zest if desired..
Cover with plastic wrap and refrigerate until cold.
Add in whipping cream and freeze in ice cream maker according to manufacturer's directions.
Recipe makes 1 quart of lemon ice cream.
The base for this ice cream is a cooked custard because there are eggs in the recipe. You will need to plan ahead with this ice cream as the ice cream base needs to be cooked and then cooled before churning into ice cream.
I usually allow my ice cream to harden up in the freezer a while before serving. You can serve it right after processing though if you can't wait, it will just be more soft serve like.