Place the sweetened condensed milk and passion fruit concentrate in a bowl and whisk together.
Add the vanilla to the heavy cream and whip the heavy cream until stiff peaks form.
Fold the whipped cream into the condensed milk and passion fruit mixture
Pour the mixture into an 8.5x4.5-inch loaf pan, wrap in plastic and freeze for at least 6 hours.
Let the ice cream sit on the counter for 5-10 minutes before scooping it into bowls or onto ice cream cones.
Another option is to combine passion fruit pulp and sugar, cook it together and serve on top of the ice cream