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Strain the mixture, removing the cilantro and lime zest. If bits of cilantro and lime zest slip through, don't fret. It only adds to the aesthetic of the ice cream. Pour into an ice cream maker and churn until thickened to a soft-serve consistency, 15 to 20 minutes. Transfer the ice cream to a freezer-safe container and freeze at least 1 hour.
Serve garnished with candied lime peel or a simple sprig of cilantro.