Combine the ingredients by whisking together milk, heavy cream, and instant vanilla pudding mix until blended. Add raspberry extract, lemon extract, and blue food coloring.

Cover and freeze the mixture for 24 hours to achieve a solid texture.

Process in the ice cream maker, setting it to the 'Ice Cream' function for about 2 minutes.

If the texture is too dry, create a hole and add 1 tablespoon of milk or water, then re-spin.

Serve immediately or store in a container in the freezer, adding toppings if desired.