Toast the black sesame seeds in a dry skillet over low heat for 2-3 minutes, until fragrant. Grind finely in a coffee grinder or with a mortar and pestle.
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.
Remove from the heat, then add the ground black sesame seeds and vanilla extract. Stir well to infuse the ice cream base with the sesame flavor.
Let the mixture cool completely to 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 with a fork every hour to prevent ice crystals from forming.
Place the ice cream in the freezer for at least 4 hours to harden completely.
Before serving, let it stand at room temperature for a few minutes to soften slightly and make it easier to scoop. Garnish with toasted sesame seeds or a little extra ground black sesame seeds.
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