In a large, chilled mixing bowl, pour in 2 cups of cold heavy cream. Using an electric mixer, whip the cream on medium-high speed for about 3-5 minutes until soft peaks form.

Gently fold in one can of sweetened condensed milk into the whipped cream using a spatula. Add the vanilla extract, raspberry extract, and lemon extract, and keep folding until well blended and smooth.

Add a few drops of blue gel food coloring to achieve your desired shade, folding it into the mixture until the color is evenly distributed throughout.

Transfer the mixture into an airtight container and smooth the top. Cover with plastic wrap and seal with a lid. Freeze for at least 5-6 hours, or until fully set.

Before serving, let the ice cream soften at room temperature for 5-10 minutes. Then, use an ice cream scoop to serve and enjoy.