Whip the cream in a bowl. Place the egg yolks and sugar in another bowl and whisk until pale and light. Heat the milk and black sesame paste in a saucepan on a low–medium heat, stirring constantly. Just before it comes to the boil, remove from the heat and slowly pour into the egg yolk mixture, stirring all the time. Add the cream and mix well. Pour the mixture into an ice cream maker and churn according to the directions. If you don’t have an ice cream maker, pour the mixture into a metal container and freeze for 3 hours, scraping the ice cream with a fork every hour to break up the ice crystals.
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