In a medium saucepan, heat 1 cup of whole milk over medium heat until it begins to bubble gently, about 5 minutes. Stir in ½ cup sugar and ¼ teaspoon salt until fully dissolved.

Remove the saucepan from heat and mix in 1½ cups of heavy whipping cream, 1 teaspoon of vanilla extract, 3 teaspoons of vanilla pudding mix, 1 teaspoon of raspberry extract, and 1 teaspoon of lemon extract.

Stir in about ½ teaspoon of blue food coloring to achieve a vibrant hue.

Transfer the mixture to a bowl, cover with plastic wrap, and refrigerate for at least 2 hours.

Once chilled, pour the mixture into an ice cream maker and churn according to the manufacturer's instructions, typically around 20-25 minutes.

Scoop into bowls or cones and serve immediately. Add toppings like fresh berries or chocolate drizzle, if desired.