Stir together sweetened condensed milk, frozen orange juice concentrate, food coloring, and vanilla extract. I used a potato masher to incorporate the frozen orange juice concentrate.

Fold in whipped topping. Pour into prepared crust (dish will be full) and freeze for approximately 4 hours or until set up. Overnight is best if you've got the time.

Quickly garnish with whipped cream and fresh orange slices and serve immediately out of the freezer as it will melt quickly.