Indeed this is what I do with lemon zests. I put them in a blender with the juice for 10 minutes at maximum power (as a result, the mixture must become hot). Add two egg whites beaten into stiff peaks for 3/4L, and you'll get the softest, tastiest lemon ice cream you've ever eaten.

If one is too lazy to infuse, it’s nice to add homemade caramel or compote. Snacks like Lotus biscuits are excellent too.

Or infuse them in the milk/cream and then strain out?