Cut the oranges in half. Carefully scoop the pulp out of the oranges leaving the skin intact in the shape of a bowl. Place the skins in a freezer-ready container and the pulp in a small bowl.
In a medium mixing bowl, squeeze the juice from the pulp of 2-3 of the oranges (½ cup of juice). Discard the juiced pulp and reserve the remainder for garnish.
Add the mascarpone cheese, Aperol, and about half to ⅔ of the sweetened condensed milk into the bowl with the orange juice.
Using a hand mixer, beat until the mixture becomes smooth and lightens up some. Taste and adjust with more orange juice, Aperol, or sweetened condensed milk if desired. Save any leftover sweetened condensed milk to flavor your morning coffee for an extra special treat!
Support the orange bowls in a container or on a tray so that they sit in an upright position. Scrunched paper towels work well for this. Then transfer the Aperol mixture into the orange bowls, filling to the top. Pour the remaining mixture into a freezer-safe container.
Freeze for several hours or overnight, until it has frozen through. Serve with fresh berries, whipped cream, and/or an Aperol Spritz (Aperol with Prosecco & a slice of orange)!