In a small bowl, whisk together the cornstarch and water until smooth. This slurry will be used to thicken the ice cream later.
In a medium saucepan, combine the coconut milk, almond milk, cocoa powder, and maple syrup. Heat over medium heat, whisking 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 slurry and cook over low heat, stirring constantly, until the ice cream base thickens slightly (about 5-7 minutes). Do not bring to a boil!
Remove from heat, stir in the vanilla extract, and let cool to room temperature. Then, refrigerate for at least 4 hours, or preferably overnight, to chill thoroughly and allow the flavors to meld.
If using an ice cream maker, pour the chilled mixture into the machine and churn according to the manufacturer's instructions. If not, pour the mixture into a shallow container and place it in the freezer. Every 30 minutes, stir the mixture with a fork to break up any ice crystals.
Before serving, let the ice cream sit at room temperature for a few minutes to soften slightly. Garnish with cacao nibs or vegan chocolate shavings.
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