If using fresh soursop, peel the fruit, remove the seeds, and blend the pulp until smooth. If using frozen pulp, thaw it first.
In a large mixing bowl, combine the soursop pulp, whole milk, heavy cream, granulated sugar, vanilla extract, and lime juice. Mix well until the sugar is fully dissolved and the mixture is smooth.
Cover the bowl with plastic wrap and refrigerate the mixture for at least 2 hours, or until it is well chilled.
Pour the chilled mixture into an ice cream maker and churn according to the manufacturer’s instructions, usually about 20-25 minutes, until the mixture reaches a soft-serve consistency.
Transfer the churned ice cream to an airtight container and freeze for at least 4 hours, or until firm.
Enjoy your meal!