In a large mixing bowl, combine freshly squeezed orange juice, granulated sugar, orange zest, kosher salt, and vanilla extract. Whisk until the sugar fully dissolves (2-3 minutes).

Pour in the milk and heavy whipping cream into the orange mixture. Gently fold until well combined for a smooth and creamy texture.

Set up your ice cream maker according to the manufacturer’s instructions. Pre-freeze the bowl if required. Pour in the creamy orange mixture.

Turn on the ice cream maker and churn for 20-30 minutes until it resembles soft serve consistency.

Spoon the soft orange sherbet into a freezer-safe container. Cover tightly with plastic wrap or wax paper and freeze for at least 4 hours.

After freezing, let it sit at room temperature for a few minutes before scooping. Serve in chilled bowls or cones, optionally garnished with fresh orange slices.