Remove the pits from the apricots and cut them into wedges. Add the apricots, 1 tablespoon each of lemon zest and juice, sugar and cinnamon to a medium-sized pan over medium heat. Stir until the fruit is tender, the sugar is dissolved and the natural juices are released, about 5-10 minutes. Pour the fruit mixture into a blender and blend until smooth. Place the fruit mixture in the refrigerator until it is completely cooled, about 20 minutes.
Once cooled, mix the heavy cream, milk and vanilla into the chilled fruit mixture. Pour the cream/fruit mixture onto a clean, shallow sheet pan. Freeze until frozen, about 3 hours or overnight. Break apart the mixture and blend in a food processor or blender until smooth and creamy. Freeze again until ready to serve. (For soft ice cream serve immediately. For a firm ice cream, place in the freezer for 1 to 2 hours).
Alternatively, if you have an ice cream machine, place the mixture into an ice cream maker and freeze according to the manufacturer instructions.
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