Before you start to mix this up, be sure you've pre-frozen the ice cream canister that goes with your ice cream maker; if you don't, your ice cream won't freeze.
In a large mixing bowl, combine the whole milk, sugar, and salt 'til the sugar and salt dissolve, about 1-2 minutes.
Add the Fruity Pebbles to the mixture, and blend 'til combined.
Whisk in the heavy cream, orange zest, and vanilla extract, mixing well.
Turn on the ice cream freezer, and pour the mixture into the freezer bowl with the churn paddle in place.
Then place the cover on top, and let it mix 'til it thickens, about 20-25 minutes.
When your Fruity Pebble ice cream has a soft, creamy texture, turn off the machine, and scoop the soft-serve ice cream into bowls for serving; or if desired, scoop it into an airtight container, and place it in the freezer for 2-3 hours to firm up more. Then serve when ready.