In a small bowl, whisk together the cornstarch and water until smooth. This will be used to thicken the ice cream later.
In a medium saucepan, pour in the coconut milk, then add the cocoa powder and maple syrup. Heat over medium heat, stirring constantly until the cocoa powder is completely dissolved.
Add the chopped dark chocolate and stir until it is completely melted and the mixture is smooth.
Pour in the cornstarch mixture and cook over low heat, stirring constantly, until the ice cream base thickens slightly (about 5-7 minutes). Do not boil!
Remove from heat, stir in the vanilla extract, and let cool to room temperature. Then, refrigerate for at least 4 hours to chill thoroughly and allow the flavors to meld.
If you have an ice cream maker, pour the chilled mixture into it and churn according to the manufacturer's instructions. If you don't, pour the mixture into a shallow container and place it in the freezer. Every half hour, stir it with a fork to prevent ice crystals from forming.
Before serving, let it stand at room temperature for a few minutes to soften slightly. Garnish with cacao nibs or vegan chocolate shavings, if desired.
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