Using a grater, finely grate the tonka bean to release its intense aroma.
In a saucepan, combine the milk, heavy cream, and sugar. Heat over medium heat until the sugar is completely dissolved, but do not bring to a boil.
Remove the saucepan from the heat, then add the grated tonka bean and vanilla extract. Stir well and let it steep for 15 minutes to allow the flavors to meld.
Strain the mixture through a fine-mesh sieve to remove any tonka bean particles.
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 whisk 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 grated tonka bean or a sprinkle of chocolate shavings.
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