With a mixer, beat heavy whipping cream until thick.
Pour in sweetened condensed milk and vanilla and fold in until smooth.
Process apple pie filling in a food processor, pulsing 4-5 times.
Next, spoon half of the ice cream into a freezer safe container. Top with half of the apple pie filling. Repeat layers and swirl the top layer of apple pie filling into the ice cream.
Freeze for 5-6 hours or overnight. When it is time to serve, remove the container from the freezer and let sit on the counter for 5-10 minutes before serving to soften.