First take out a large mixing bowl and fill it with ice and cold water. In a separate bowl add a quarter cup of granulated sugar and egg yolks. Hand whisk them until creamy, it should only take you a couple of minutes. Then set it aside.
In a medium saucepan add your remaining granulated sugar, whole fat milk, and heavy cream. Heat it over medium for about two to three minutes. At this point your sugar will be dissolved and your milk will be simmering.
Lower the heat to prevent burning and then add a half a cup of your milk mixture to your egg yolks. Whisk them until combined.
Add another half cup of milk mixture and continue to whisk. Now take your yolk mixture and pour it into your saucepan and continue to hand whisk it the entire time.
Now take out your spatula and stir slowly while it remains over low heat. It is now a custard.
As soon as the custard coats a spoon when lifted out of the pot and holds it remove it from the heat. Add you orange zest and stir it in. Next add your vanilla extract and lemon juice to the custard while stirring.
Once stirred in pour the custard immediately into a bowl and place the bowl in your cold water and ice bowl (don't pour your custard actually into the ice water!)
Wait until your ice cream mixture cools down to a warm temperature and then cover the bowl with plastic wrap. Place it in your freezer to chill for at least a few hours before moving on.