If you're in a hurry, set the saucepan in an ice-water bath for 5 to 10 minutes, stirring often. This will quickly chill the sherbet mixture before freezing.
2 navel oranges
1 1/2 cups water
2 cups fresh orange juice
6 tablespoons fresh lemon juice
2 (6-ounce) cans unsweetened pineapple juice
1 (14-ounce) can fat-free sweetened condensed milk
How to Make It
Carefully remove rind from oranges and lemon using a vegetable peeler, making sure to avoid white pithy part of the rind. Combine water and citrus strips in a saucepan; bring to a boil, reduce heat, and simmer, uncovered, 3 minutes. Remove from heat, and cool 15 minutes.
Remove citrus strips from water; discard strips. Combine juices in a bowl. Stir in citrus water and milk. Cover and chill 30 minutes.
Pour mixture into the freezer can of an ice-cream freezer; freeze according to manufacturer's instructions. Spoon sherbet into a freezer-safe container; cover and freeze 1 hour or until firm.