First extract the juice from the oranges. If you're too busy and important to stand around juicing oranges, you can use store bought orange juice.

Blend together the orange juice, ice cream and zest until smooth. Pour into popsicle molds, but leave the top 1/4 empty. Using a whisk, or a stand mixer with a whisk attachement whip the heavy whipping cream until soft peaks form. You don't want firm whipped cream, just firm enough that it won't too quickly seep into another liquid. Spoon the whipped cream on top of the creamsicles, add popsicle sticks and freeze overnight.