In a small bowl, combine the freshly grated wasabi or wasabi paste with a little warm milk, ensuring it's evenly distributed.
In a saucepan, combine the remaining 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 and stir in the wasabi mixture and vanilla extract. If you desire a more intense green color, add a pinch of green food coloring.
Allow the mixture to 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 sit at room temperature for a few minutes to soften slightly for easier scooping. Garnish with a little extra grated wasabi or sesame seeds.
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