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, melt the coconut sugar over medium heat until it becomes a liquid, golden-brown caramel. Be careful not to burn it!
Slowly pour in the soy milk while stirring constantly. The caramel may harden at first, but it will dissolve again as you stir.
Add the coconut cream, maple syrup, and vanilla extract, then stir until smooth. Continue to heat over low heat.
Pour in the cornstarch mixture and cook, stirring constantly, for 5-7 minutes, or until the mixture has slightly thickened. Do not boil!
Remove from heat 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 not, pour the mixture into a shallow container and place it in the freezer. Every half hour, stir with a fork to prevent crystallization.
Before serving, let it sit at room temperature for a few minutes to soften for easier scooping. Garnish with extra caramel sauce or toasted nuts.
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