Slice the vanilla bean lengthwise and use the tip of a knife to scrape out the seeds.
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, combine the coconut milk and almond milk. Add the maple syrup and vanilla seeds. Heat over medium heat, but do not boil.
Pour in the cornstarch mixture and cook over low heat, stirring constantly, until the ice cream base has slightly thickened (about 5-7 minutes). Do not boil!
Remove from the 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 you don't, pour the mixture into a shallow container and freeze, stirring with a fork every half hour to prevent ice crystals from forming.
Before serving, let it sit at room temperature for a few minutes to soften slightly and become easier to scoop. Garnish with fresh fruit or vegan chocolate shavings, if desired.
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