In a dry skillet, toast the black sesame seeds over medium heat for 2-3 minutes, until fragrant. Be careful not to burn them.
Transfer the toasted sesame seeds to a food processor and grind into a fine paste. If needed, add a little milk to help it become creamy.
In a saucepan, combine the milk, heavy cream, and sugar. Heat over medium heat, stirring until the sugar is completely dissolved, but do not boil.
Add the black sesame paste, honey, and vanilla extract, then mix thoroughly until the ice cream base has a uniform color and texture.
Let the mixture cool completely at room temperature, then refrigerate for at least 2 hours to chill thoroughly.
Pour the well-chilled ice cream base into an ice cream maker and churn according to the manufacturer's instructions. If you don't have an ice cream maker, pour it into a freezer-safe container and stir it with a fork every hour to prevent ice crystals from forming.
Place the ice cream in the freezer for at least 4 hours to fully harden.
Before serving, let it stand at room temperature for a few minutes to soften slightly and make it easier to scoop. Garnish with extra toasted sesame seeds or a drizzle of honey.
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