Beat 2 cups Hy-Vee heavy whipping cream and 1 teaspoon Hy-Vee vanilla extract in a large bowl with an electric mixer on high until stiff peaks form (tips stand straight).
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Stir together 1 (14-oz.) can Hy-Vee sweetened condensed milk in a separate large bowl with cocoa, juice, extracts, or zest mix-ins, if desired.
Fold in any solid mix-ins, reserving 1 to 2 tablespoons to garnish top of ice cream, if desired. Fold in whipped cream. Gently swirl in any preserves or toppings.
Spread mixture in 9x5-inch loaf pan or 2-quart freezer-safe container. Sprinkle with reserved garnishes, if desired. Cover and freeze 6 hours or overnight until firm.