Place all ingredients except the Aperol in a saucepan and warm over medium heat until the sugar is completely dissolved. Remove from the heat, pour into a heat-proof container with a lid and place in the refrigerator to cool completely (preferably overnight).
Once chilled, add the Aperol and mix well.
Pour the mixture into the bowl of an ice cream maker and churn according to the manufacturer's instructions until a uniform frozen consistency is reached (about 30 minutes). Transfer to an ice cream container and freeze for 2 hours before serving.
Notes
If you don't like Aperol, omit it or use a different liquor, such as Campari or Lemoncello.Serve as is, or as an adult float in a pool of prosecco. Yum!