In a large bowl using a hand mixer or whisk, beat heavy cream until stiff peaks form. Fold in sweetened condensed milk and vanilla extract until completely combined.
Separate mixture evenly into three separate bowls.
In one bowl, add 2 drops each red and yellow food coloring to form your orange ice cream layer. (Continue to play with the color until you’re happy with the shade.) In another bowl, add 2 more drops yellow food coloring to form your yellow ice cream layer and stir until combined. (Continue to play with the color until you’re happy with the shade.)
Among 8 to 10 plastic dessert cups, layer white, yellow, and orange ice cream colors. Top with candy corn and freeze until firm, 5 hours. (If you don’t wish to make individual cups, you can also layer colors in a 9-x-5” loaf pan and garnish with candy corn.)
When ready to serve, remove ice cream from freezer 10 minutes to soften.