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Chill a medium-sized glass or Pyrex bowl and the beaters from an electric beater.
Combine the lemon zest and the granulated sugar in a food processor or grinder and whiz until the zest is very fine and the sugar becomes a very pale yellow, about 2 minutes.
Combine the lemon zest sugar with the milk in a mixing bowl and stir or whisk until the sugar has dissolved; this might take another 2 minutes or so. Stir in the lemon juice from the juiced lemon.
Whip the chilled heavy cream in the chilled bowl with the chilled beaters until thick and stiff peaks hold. Gently fold the lemony liquid into the whipped cream in 5 small additions until blended and creamy after each addition.
Pour the mixture into a freezer-friendly 4-cup plastic container, cover and place in the freezer. Stir the ice cream after about 2 or 3 hours and then allow to firm completely up, several hours or overnight. Allow to soften a bit before scooping and serving.