In a medium, nonreactive saucepan, mix 1 cup (250 ml) of the milk with the sugar. Grate the zest of the lemon directly into the saucepan.
Heat, stirring frequently, until the sugar is dissolved. Remove from the heat and add the remaining 2 cups (500 ml) milk, then chill thoroughly in the refrigerator.
Stir the lemon juice into the milk mixture. If it curdles a bit, whisk it vigorously to make it smooth again.
Freeze in your ice cream maker according to the manufacturer's instructions.
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