Wash and halve the avocados, remove the seed using knife and scoop out the avocado using spoon into the bowl.
Now, take a blender or mixer. Add scooped avocado, lime juice, lime zest, vanilla extract, condensed milk and blend it till smooth.
Add heavy whipping cream and blend it again for a few seconds till mix it properly.
Remove the prepared smooth mixture into the glass or plastic container, then cover it with airtight lid.
Place the container into the freezer and let it set about 4-5 hrs.
Avocado matcha ice cream is ready, serve it with chocolate syrup or sprinkles and enjoy.