In a blender, combine the fresh orange juice, coconut milk, maple syrup, vanilla extract, and orange zest.
Blend until smooth and well-combined. You can whisk it together in a bowl if you don't have any pieces of orange that got into the juice.
Pour mixture into ice cube trays and freeze.
Once frozen, let the cubes thaw for a couple minutes before transferring to the blender. Pulse then blend until scoopable.
Serve immediately in bowls, ice cream cones, or for an extra special touch, serve into hollowed-out orange halves.