Combine the condensed milk and vanilla extract in a small bowl. Set aside.

In a chilled stand mixer bowl fitted with a wire whisk, add in the heavy whipping cream and whip until soft peaks.

Fold about 1 C of the whipped cream into the condensed milk mixture to lighten.

Transfer all of the condensed milk mixture into the whipped cream bowl and continue to whip until stiff (but be careful not to overwhip).

Add dollops of the raspberry rose compote to the cream mixture and swirl gently with a spatula.

Transfer the mixture to a clean freezer-safe container, give it a few taps to release any air bubbles and freeze for at least 6 hours.