In a bowl, combine sweetened condensed milk, passion fruit juice, vanilla and salt. Stir until well mixed and set aside.
In a bowl of a stand mixer with the whisk attachment, pour cold heavy cream and process on low speed until stiff peaks form, about 4 minutes. Scoop half the whipped cream into the condensed milk mixture and gently fold.
Add condensed milk/whipped cream mixture to the remaining whipped cream. Fold again and pour the mixture into an ice cream tub. Level it out with a spatula, cover and transfer to the freezer for 5-6 hours or until frozen.