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Combine the cream, milk, sugar and vanilla in a large sealable plastic bag. Press down on the bag to distribute the sugar.
Half fill a 4L (16 cup) airtight plastic container with ice cubes. Sprinkle with half the salt. Place the sealed plastic bag on top of the ice. Cover with ice and remaining salt.
Place the lid on the container. Shake, holding at each end, for 5 minutes or until well combined (see note).
Remove the lid. The soft serve should have thickened but still be soft. Snip off 1 corner of the bag.
Spoon some lemon curd into a piping bag fitted with a fluted nozzle. Squeeze some soft serve into the piping bag. Repeat, creating layers of lemon curd and soft serve until no soft serve remains.
Pipe the soft serve mixture into small glasses. Place in the freezer for 10 minutes to firm slightly. Serve immediately.