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Place the unflavored gelatin sheets in a small bowl of cold water and let them soften for 5 to 10 minutes.
Zest one lemon, then juice all three lemons and set aside.
In a large bowl, whisk together the sweetened condensed milk, lemon juice, and lemon zest until smooth.
In a separate bowl, use a hand mixer to whip the cold heavy cream until soft peaks form.
Lift the softened gelatin sheets from the water and gently squeeze out any excess liquid. Transfer them to a small saucepan and warm over low heat (or microwave briefly), stirring until fully dissolved. Let cool slightly.
Slowly whisk the dissolved gelatin into the condensed milk mixture, stirring constantly to avoid lumps.
Gently fold the whipped cream into the mixture with a spatula, working from the bottom up until light and airy.
Divide the mousse among individual serving glasses or a large bowl, cover, and refrigerate for at least 4 hours, or until set.