Take the ice cream out of the freezer and let it soften for about 20-30 minutes. Spoon 1/3 of the ice cream into a medium bowl. Use orange food coloring, gel or liquid, to color the ice cream orange as desired. Stir well to mix and color.
In another medium bowl, spoon another 1/3 of the ice cream and color it yellow as desired. Stir well to mix and color.
Stir the remaining vanilla ice cream until it is smooth and creamy.
Spoon yellow ice cream into the bottom of a plastic cup, to fill the cup 1/3 full. You may need to wipe the cup down if streaks are in the upper part of the cup from spooning it in. Flatten it out as well as you can, trying to eliminate any air bubbles on the side.
Spoon in orange ice cream on top of the yellow to fill the cup about 2/3 full. Again, wipe down the inside of the cup, if needed, and smooth out the top of the orange ice cream. Top with vanilla ice cream to within 1/4-inch of the top of the cup. Smooth out the top.
Top with whipped cream and sprinkles, if desired. Freeze until ready to serve.