In a medium saucepan, combine heavy cream, whole milk, and granulated sugar over medium heat. Stir constantly for about 5–7 minutes until the sugar is completely dissolved. Remove from heat and mix in vanilla extract. Allow to cool completely.

Blend fresh raspberries with a little sugar until smooth. Strain through a fine mesh sieve. Set raspberry puree aside.

Transfer the cooled base to a sealed container and refrigerate for at least 2 hours until cold.

Pour the chilled base into an ice cream maker and churn for 20–25 minutes until soft-serve consistency.

Divide the churned base into three bowls. For the first bowl, mix in orange juice, orange zest, and food coloring. Transfer to a freezer-safe container.

In the second bowl, add lime juice and green food coloring, mix and freeze. Combine raspberry puree with remaining base, churn, and set aside.

Layer the mixtures in a freezer-safe container, swirling them together for a marbled effect.

Cover tightly and freeze for at least 4–6 hours until fully hardened.