Whip the cold heavy cream in a large bowl with a hand mixer until stiff peaks form, about 3 minutes.

Fold in the sweetened condensed milk, vanilla, and salt until just combined and no streaks remain, then scrape into a 9×5-inch loaf pan, smooth the top, and cover with parchment. Freeze at least 6 hours or overnight until firm.

Let the ice cream soften at room temperature for 5 minutes, then scoop into bowls and serve.