To make the baklava crumble, mix pistachios, cinnamon, half of the orange zest, vanilla extract, and sugar in a bowl. Set aside while you make the ice cream base.
To make the ice cream base, pour whipping cream in a large bowl. Mix with a hand mixer on medium-high speed until soft peaks form, about two minutes. Use a spatula to fold in the sweetened condensed milk, honey, and remaining orange zest.
To assemble the ice cream, pour ⅓ of the ice cream base into a freezer-safe container. Drizzle with honey and sprinkle with ⅓ of the baklava crumble. Repeat layers. Seal container and freezer for at least 6 hours. Serve with baked puff pastry or in an ice cream cone.