In a medium-size saucepan, place blueberries, maple syrup, lemon juice, and lemon zest over medium heat.
Cook until blueberries burst and sauce starts to thicken.
Allow sauce to cool.
In a stand mixer (or regular bowl), pour heavy whipping cream and sweetened condensed milk and whip until stiff peaks form.
While on low speed, add in vanilla and cream cheese (a spoonful at a time).
Line a freezer-safe dish with parchment paper and pour in half of the ice cream mixture, then top with half the blueberry sauce mixture. Repeat. Take a knife or a spoon into the blueberry lemon cheesecake ice cream mixture and create zig zags and lines in the pan to lightly mix the ice cream and sauce together.
Cover and place in the freezer for 4-6 hours. When you're ready to serve, allow the ice cream to thaw a bit and spoon onto cookies, place cookies on top, and enjoy. Or wrap them up for later.
If you want to be a super awesome ice cream sandwich maker, you could freeze the mixture into a paper cup and then cut through the cup to make perfect ice cream circles.I tried making this ice cream by just mixing everything together. It is much tastier by adding spoonfuls of cream cheese and swirling in the blueberry sauce.