In a medium saucepan, combine the heavy cream, whole milk, sugar, salt, ground cardamom, and orange zest. Heat the mixture over medium heat, stirring occasionally, until it just begins to simmer. Remove from the heat.

In a separate bowl, whisk together the egg yolks. Gradually add about 1 cup of the warm cream mixture to the egg yolks, whisking constantly to temper the yolks. This step prevents the eggs from scrambling.

Pour the egg yolk mixture back into the saucepan with the remaining cream mixture. Cook over low heat, stirring constantly until the mixture thickens slightly and coats the back of a wooden spoon. This should take about 5-7 minutes. Do not let it boil.

Remove the saucepan from heat and stir in the freshly squeezed orange juice and vanilla extract.

Strain the mixture through a fine-mesh sieve into a clean bowl to remove the zest and any cooked egg bits. Cover the bowl with plastic wrap, pressing it directly onto the surface of the custard to prevent a skin from forming. Chill in the refrigerator for at least 4 hours, or overnight for best results.

Once chilled, churn the mixture in an ice cream maker according to the manufacturer’s instructions until it reaches a soft-serve consistency.

Transfer the ice cream to an airtight container and freeze for at least 4 hours, or until firm.

When ready to serve, let the ice cream sit at room temperature for a few minutes to soften slightly before scooping.