Chill a large mixing bowl and your beaters in the freezer for about 10 minutes.

Beat the cold heavy cream in the chilled bowl until thickened and soft peaks form, about 3-5 minutes.

Gently fold in the sweetened condensed milk, vanilla extract, raspberry extract, and lemon extract until combined.

Add blue gel food coloring a few drops at a time and fold until evenly colored.

Transfer the mixture to an airtight container, cover with plastic wrap, and freeze for at least 5-6 hours until firm.

Before serving, let the ice cream sit at room temperature for 5-10 minutes to soften.