In a bowl, mix gelatin and water.
Put mixture and 1/4 cup (60 mL) undiluted frozen orange juice in the top of a double boiler.
Heat for 2-3 min just enough to dissolve gelatin.
Remove from heat, add remaining orange juice and cool slightly.
Add vanilla, mandarins, orange sections and ice cream, mixing everything together.
Pour into clear dessert glasses and refrigerate for 1 hour before serving.
Decorate with bits of citrus fruit.
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