Beat the cold heavy cream to stiff peaks in a large bowl, about 3 to 5 minutes.

Stir the sweetened condensed milk, vanilla, and salt together in a small bowl, then fold it into the whipped cream until no streaks remain.

Transfer the mixture to a freezer-safe container, press parchment against the surface, wrap tightly, and freeze for at least 6 hours.

Let the ice cream sit at room temperature for 5 to 8 minutes, then scoop and serve.