In a large mixing bowl, combine freshly squeezed orange juice, granulated sugar, orange zest, kosher salt, and vanilla extract. Whisk until the sugar dissolves completely, about 2-3 minutes.

Add the milk and heavy whipping cream to the orange mixture. Whisk for another 2-3 minutes until well combined and smooth.

Transfer the mixture into an ice cream maker and churn according to the manufacturer's instructions for about 25-30 minutes until it reaches a soft-serve consistency.

Transfer the soft sherbet into a freezer-safe container. Cover the surface with plastic wrap and freeze for at least 4-6 hours or overnight.

When ready to serve, scoop out using a warm ice cream scoop, serve in chilled bowls and garnish if desired.