In a large bowl, use a hand mixer or stand mixer with a whisk attachment to whip the heavy whipping cream until stiff peaks form.
1 & 2/3 cups heavy whipping cream
In a separate bowl, whisk together the softened mascarpone cheese, sweetened condensed milk, and vanilla extract until smooth and creamy.
6 ounces mascarpone cheese, 14 oz sweetened condensed milk, ½ teaspoon vanilla extract
Pour the sweetened condensed milk and mascarpone mixture into the whipped cream mixture. Fold in gently to combine everything together.
Pour 1/3 of the whipped cream into your 9x5 inch loaf pan or freezer-safe container. Top with the ladyfinger pieces very lightly soaked in espresso, then dust with cocoa powder. Repeat layers with 1/3 of the whipped cream mixture lady finger soaked in espresso, and cocoa powder. Top everything off with the rest of the whipped cream mixture, extra dusting of cocoa powder, and wrap with plastic wrap.
3 tablespoons Cocoa powder, 1/3 cup fresh espresso, 8 ladyfingers
Freeze for at least 6 hours, or overnight, for a firmer texture.
When ready to serve, let the ice cream soften slightly for a few minutes. Scoop and enjoy the delicious taste of tiramisu in a cool and refreshing way!