Place the cream, milk and vanilla in a pan and slowly bring to just below boiling point. Put a lid on and leave to infuse for 30 minutes. Whisk the egg yolks and maple syrup together until foamy. Bring the cream back to almost boiling, then slowly pour it onto the yolks, whisking continuously. Pour back into the pan and cook over moderate heat, stirring continuously until it forms a custard. Strain through a fine sieve into a clean bowl and when tepid whisk in the tamarind paste. Leave to cool, then chill in the fridge for a few hours. Churn according to your ice-cream machine instructions.
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