With a mixer, beat heavy whipping cream until thick. Pour in sweetened condensed milk, vanilla and orange oil and fold in until smooth. Divide ice cream into 2-3 bowls, adding gel food coloring to a couple of them to create 2 different shades of orange.
Next, spoon ice cream into a freezer safe container, alternating colors to create an multicolored ice cream.
Freeze for 5-6 hours or overnight. When it is time to serve, remove from freezer and let sit on the counter to soften for 5-10 minutes before serving.