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Add 1 cup heavy whipping cream to mixing bowl. Use stand mixer or hand mixer fitted with whisk attachment to whisk heavy cream on medium-high speed until stiff peaks form. Alternately, whisk cream vigorously by hand until stiff peaks form.
Once all heavy cream has been whipped into stiff peaks, begin adding 1 14-ounce can sweetened condensed milk to bowl in small increments. Whisk mixture constantly on medium-low speed while adding condensed milk, and continue until all condensed milk has been incorporated into whipped cream.
When all condensed milk has been combined with whipped cream, remove mixer or whisk from bowl. Add ½ teaspoon pure vanilla extract, ¾ cup 100% pure canned pumpkin purée, and 1 teaspoon pumpkin pie spice to bowl and gently stir ingredients into whipped cream mixture until fully combined.
Transfer mixture to 9x5 loaf pan, making sure mixture fills entire pan evenly. Use spatula to smooth top of mixture if needed.
Place loaf pan in freezer. Freeze ice cream 4 hours or until block of ice cream is completely solid.
When ice cream is completely frozen, scoop and serve ice cream as desired. Alternately, cover top of loaf pan with plastic wrap, making sure plastic wrap is pressed against entire surface of ice cream. Freeze covered pan up to 1 month, serving ice cream when desired.