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Cut lemons in half lengthwise to resemble boats.
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Cut a small sliver of peel from bottom of lemons to stabilize base.
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Remove pulp from lemons to form a "shell" using a spoon or melon baller.
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Cover with plastic wrap and freeze.
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In large glass bowl, combine zest, juice, milk and cream.
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Add sugar and stir until dissolved.
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Cover with plastic wrap and freeze 8 hours or more.
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Remove from freezer, if necessary, break up ice crystals.
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Process in food processor until smooth. Do not over process, mixture should hold very firm peaks.
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Spoon into lemon shells, cover, and freeze until firm, 2 hours or up to 3 days.
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Garnish if desired.