Remove the vanilla ice cream from the freezer and let it soften slightly for a few minutes. Scoop and shape into small oval or rectangular pieces that fit your molds. Place on a parchment-lined tray and freeze until completely firm.

In a chilled mixing bowl, add the heavy cream and sugar. Beat using a hand mixer until stiff peaks form. The cream should be thick, fluffy, and able to hold its shape.

Add the orange juice, vanilla extract, orange extract if using, sweetened condensed milk, and a pinch of salt to the whipped cream. Gently mix until smooth and fully combined. Avoid overmixing to keep the texture light.

Pour the orange mixture into popsicle molds, filling each mold about one-third full. Tap lightly to remove air bubbles. Insert sticks if needed and freeze for about 45 minutes to 1 hour until slightly firm.

Remove molds from freezer and place one frozen ice cream piece into the center of each mold. Work quickly to keep the ice cream from melting.

Pour the remaining orange mixture into the molds, covering the ice cream completely and filling to the top. Smooth the tops if needed.

Place molds back in the freezer and freeze for at least 6 hours or overnight until fully set and firm.

To serve, run molds under warm water for a few seconds and gently pull out the creamsicles. Serve immediately.