Add all ingredients except lemon juice to a saucepan and heat over medium-low until the sugar is fully dissolved.
Let cool.
Add lemon juice. Whisk to combine.
Add the mixture to the ice cream maker*, press on, and let the machine do it's thing. My model makes the ice cream in less than 30 minutes!
*If you don't have an ice cream maker, you could do one of two things:
1. Pour the mixture into ice molds and place in the freezer. Once frozen, place in the blender and blend until creamy.
2. Pour mixture into an air tight container. Place in the freezer and every 20 minutes mix or scrape until completely frozen.