Line a large plate with several paper towels. Scoop the pumpkin puree on top of the paper towels and spread it out. Add several more paper towels on top and blot the pumpkin. Continue pressing the pumpkin with a few more paper towels to remove as much excess moisture as possible.

Add the blotted pumpkin puree, sweetened condensed milk, pumpkin pie spice, vanilla extract, and salt to a separate large mixing bowl. Whisk until well combined and set aside.

In the bowl of a stand mixer fitted with the whisk attachment, or in a large mixing bowl using a handheld mixer, add the heavy whipping cream. Start mixing on low speed. Once the mixture starts to increase in volume, increase the speed to medium-high and continue mixing until stiff peaks form.

Gently fold half of the whipped cream into the sweetened condensed milk, then fold in the remaining whipped cream until just combined.

Scoop the ice cream into a 9x5 loaf pan and smooth it out into one even layer.

Place a piece of plastic wrap directly on the surface of the ice cream and transfer it to the freezer to freeze overnight (or for at least 8 hours).