Place the can of sweetened condensed milk in the refrigerator the day before making the ice cream. Place the beaters or the whisk for your mixer in the refrigerator 30 minutes before whipping the cream.
Pour the sweetened condensed milk into a large bowl. Add the passion fruit concentrate and whisk together until thoroughly combined.
In a large bowl add vanilla extract to the heavy cream and beat the cream on medium speed until medium to stiff peaks. Stiff peaks stand straight up when the beaters or whisk are lifted straight up. If the peaks droop over a little bit that is okay. It’s better to slightly under beat the whipped cream than to overbeat it and end up with a grainy texture.
Add half of the whipped cream to the sweetened condensed milk and fold the whipped cream into the mixture lifting from the bottom each time. Once the whipped cream is incorporated add the remaining whipped cream and fold it in until no streaks of whipped cream remain.
Pour the mixture into the ice cream container. You can either use a silicone ice cream container or use an 8.5 x 4.5-inch loaf pan. If using a loaf pan, wrap it in three layers of plastic wrap.
Place the container in the freezer and freeze for at least 6 hours or overnight. When you’re ready to serve the ice cream, let it sit at room temperature for 5-10 minutes (5 minutes if your kitchen hot) so it softens and is easier to scoop.
Passion Fruit Topping (Optional)
Combine the passion fruit pulp and the sugar in a small saucepan. Cook the mixture over medium heat until the sugar dissolves and the passion fruit turns clear. Remove it from the heat, allow the passion fruit to cool and store it in the refrigerator until ready to serve with ice cream.
If using passion fruit juice, you’ll need 1-1/2 cups. Passion fruit concentrate is where the water has been removed from the juice resulting in a more intense flavor, so you only need half the amount of concentrate.