Place the whole milk and condensed milk in a saucepan and heat over medium heat. Once it’s warm and bubbling along the edges, sprinkle the gelatin over top and let it sit for a minute. Whisk until the gelatin dissolves, then remove the mixture from the heat.

Whisk in the mascarpone cheese, nutella and salt until completely melted and combined. Mandy recommends an immersion blender here, but I really loathe my immersion blender so I just continued to whisk and it worked out perfectly.

Pour the mixture into a baking dish (9-inch square works well) and freeze for at least 6 to 8 hours or overnight.

Right before serving, slice the mixture into cubes. Place half of the cubes in the food processor and pulse until they begin to break down, then turn the processor on and blend until creamy and smooth. If you’ve made banana soft serve with frozen bananas, it’s just like that. At this point the ice cream will be slightly melty, so you can pop it back in the fridge or serve it with a spoon, or place it in a piping bag and pipe into cones! Repeat with the remaining cubes and do the same.

If desired, dip your cones into melted nutella and sprinkles before serving. You can do it ahead of time and stick the cones in the fridge too.