In a large mixing bowl, whisk together 2 cups of freshly squeezed orange juice, 1 cup of granulated sugar, the zest of 2 oranges, 1/4 teaspoon of kosher salt, and 1 teaspoon of vanilla extract until the sugar fully dissolves, about 2-3 minutes.

Once your orange mixture is smooth, whisk in 1 cup of whole milk and 1 cup of heavy whipping cream until well blended.

Pour the creamy orange mixture into an ice cream maker, ensuring it's properly assembled and pre-chilled according to the manufacturer's instructions. Churn the mixture for about 20-30 minutes, or until it reaches a soft-serve consistency.

Carefully transfer the churned orange sherbet into a freezer-safe container, smoothing the top. Cover tightly to minimize ice crystal formation.

Place the covered container in the freezer for at least 4 hours or preferably overnight.

When ready to serve, scoop out your homemade orange sherbet into chilled bowls or cones.