Blend all ingredients in high powered blender until smooth. Chill in refrigerator for 2-3 hours until well chilled. Pour mixture into ice cream maker, following manufacturer instructions.
Preheat oven to 350 degrees. Spray a 9×13 baking pan with non-stick spray. Mix pumpkin, sugar, cinnamon, eggs, milk and orange zest together. Pour batter into prepared pan. Sprinkle cake mix over top ...