Start recipe at least 3 1/2 hours before serving. In small saucepan, into 1/4 cup of orange juice, sprinkle gelatin. Cook over low heat, stirring constantly, until gelatin is dissolved. Remove from heat; stir in 3/4 cup orange juice, lemon juice, orange peel, orange segments and sweetener. Cool.In a small bowl with electric mixer, beat on high the powdered milk with ice water until stiff peaks form. Gently stir gelatin mixture into whipped milk until well blended. Pour into shallow pan; freeze 3 hours or until firm.