Whip the heavy cream in a large bowl with a hand mixer on medium speed until soft peaks form, 3 to 4 minutes.

Add the sweetened condensed milk and vanilla. Fold with a spatula until no streaks remain.

Spoon the mixture into 8 popsicle molds, tapping to settle and leaving a small gap at the top. Insert sticks and freeze until solid, at least 4 hours.

Run molds under warm water for 15 to 20 seconds to release the pops. Serve immediately or wrap for storage.