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1. Combine the milk and sugar in a saucepan.
2. Cook over medium heat until the sugar is dissolved and the mixture reaches 175 degrees F.
3. Cool it to room temperature.
4. Stir in the lime juice and peel.
5. Freeze in the freezer for 6 hours.
6. Transfer frozen lime mixture to a bowl.
7. Allow to soften slightly.
8. Beat the whipping cream until stiff peaks form in a small mixing bowl.
9. Fold into the softened lime mixture.
10. Allow the ice cream to firm up in your freezer for another 4 hours before serving.
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