Place the loaf pan, mixing bowl, and whisk attachment in the freezer for 30 minutes to help the whipped cream firm up.

In a mixing bowl, combine the cold sweetened condensed milk with cold Dr. Pepper, stirring gradually to reduce bubbles.

Take the chilled bowl and whisk attachment, then beat the cold heavy cream on medium-high until frothy. Increase speed to high and continue for 1½–2 minutes until stiff peaks form.

Carefully fold the whipped cream into the Dr. Pepper mixture, one cup at a time, using a silicone spatula to avoid deflating the cream.

Spoon the ice cream mixture into the chilled loaf pan, smooth the top, and cover with aluminum foil. Freeze for at least 6 hours or until firm.

Once frozen, scoop the ice cream into bowls or cones. For extra fun, top with more Dr. Pepper to make a float!