Before starting, make sure the bowl of your ice cream maker is frozen and ready to go.
Zest one orange and set the zest aside. Juice oranges until you have the required amount of juice, then add the juice to a large bowl.
Add the honey to the orange juice and whisk until fully dissolved.
Stir in the milk, whisking as you pour, until fully combined. The colour will lighten significantly.
Stir in the orange zest. Place the bowl into the refrigerator to chill for at least two hours, or until cold to the touch.
Start your ice cream maker and pour the chilled sherbet mixture into the machine. Churn until creamy and the consistency of soft-serve, following the machine instructions. After churning, you can serve immediately, but it will melt quickly.
Scoop the churned ice cream into an airtight container and freeze for up to one month. Take it out and let it warm up for 10 minutes before scooping if frozen through.