Soften gelatine in water for 5 minutes.
Place on extremely low heat for gelatine to dissolve.
Combine orange and lemon juice in a bowl.
Add gelatine and sugar.
Place this bowl in a basin of ice and ice water (add some salt to ice water).
As the mixture sets on the sides, stir.
When it is partially set, add milk and essence.
Whisk till the mixture thickens.
Add pieces of orange sections (reserving half for decoration).
Mix well and pour in a deep dish or bowl and leave to set in the refrigerator.
When set, garnish with whipped cream and remaining orange sections.