In a bowl, whisk together coconut milk, lemon zest, vanilla extract, cornstarch, and maple syrup until well combined.
Heat the mixture in a saucepan over medium heat, stirring continuously until it starts to thicken. Be careful not to let it boil.
Once the mixture has thickened, remove it from the heat and let it cool for a few minutes.
Stir in the lemon juice and condensed coconut milk until smooth and well combined.
Transfer the mixture into serving glasses or bowls and refrigerate for at least an hour, or until set.
Before serving, you can sprinkle optional decorations like cinnamon, cocoa powder, or dairy-free chocolate chips on top for an extra touch of flavor.