In a medium saucepan, combine cream, milk, and sugar over medium heat. Stir continually for about 5-7 minutes until the sugar is completely dissolved and the mixture is hot but not boiling. Remove from heat, then stir in the vanilla extract. Allow the mixture to cool to room temperature before proceeding.

While the base is cooling, prepare the raspberry layer. In a blender, combine thawed raspberries with sugar and blend until smooth. Strain the mixture through a fine mesh sieve to eliminate the seeds, creating a lovely smooth puree. Set this raspberry puree aside.

Once the base has cooled completely, pour it into your ice cream maker. Churn the mixture according to your ice cream maker's instructions, typically around 20-25 minutes, until it reaches a soft-serve consistency.

For the first layer, take one third of the base and mix it with fresh orange juice and a few drops of orange food coloring, if desired. Return this mixture to the ice cream maker and churn for an additional 5-8 minutes.

For the second layer, take another third of the base and mix it with fresh lime juice and lime food coloring, if using. Churn this mixture for about 5 minutes until fully incorporated.

Mix in the raspberry puree until fully combined with the last part of the base. Churn this mixture for about 5 minutes or until it’s smooth and creamy.

Spoon in layers of the orange, lime, and raspberry mixtures into a large, freezer-safe container, alternating them. Use a knife or skewer to swirl the layers slightly. Cover tightly and freeze for at least 4-6 hours until fully set.