Place a 10x5x3 loaf pan, the bowl and whisk attachment of a stand mixer, or a medium size (2-3  quart) mixing bowl and the beaters of a handheld mixer in the freezer for 30 minutes.

Add the sweetened condensed milk to a medium size bowl.

Slowly stir the Dr Pepper into the sweetened condensed milk. (Stirring the soda in slowly helps reduce the amount of bubbles when combining. The ice cream will freeze a bit quicker if the soda is cold when mixing into the sweetened condensed milk.)

Next, remove the mixer bowl and attachments from the freezer.

Add the cold heavy cream to the cold mixing bowl. Beat on medium high speed until the cream is slightly frothy, about 1 minute. Increase the mixer speed to high and continue to mix until the cream forms stiff peaks, about 1 ½ - 2 minutes.

Use a silicone spatula to gently fold the beaten heavy cream into the Dr. Pepper milk mixture, 1 cup at a time. (Folding is a way to gently combine 2 different textures together without deflating the whipped cream.)

Remove the loaf pan out of the freezer. Evenly spoon the ice cream base into the cold loaf pan. Use an offset spatula, or a silicone spatula to smooth the top of the ice cream.

Cover tightly with heavy duty aluminum foil and freeze for 6 hours, or until the ice cream is firm. (Remember that all freezers cool differently, so you can begin checking the firmness of the ice cream around the 4 hour mark.)

When you are ready to serve, scoop the Dr. Pepper ice cream into bowls or into ice cream cones.

Pouring the soda into the cream slowly is key to reducing foam and bubbles, which helps in achieving a smoother texture in the final product. Make sure the soda is cold to speed up the freezing time once it's mixed.