01 - Toast black sesame seeds in a dry skillet over medium heat for 3-4 minutes, stirring constantly until fragrant. Remove from heat and let cool completely.
02 - Grind cooled seeds in a food processor or spice grinder until fine powder forms. Add honey and oil, blending until smooth paste develops. Set aside.
03 - Combine milk, cream, and half the sugar in a medium saucepan. Heat over medium until just steaming, without boiling.
04 - In a separate bowl, whisk egg yolks with remaining sugar and salt until pale and thickened.
05 - Gradually pour hot milk mixture into yolks while whisking constantly to temper the eggs.
06 - Return mixture to saucepan. Cook over low heat, stirring with wooden spoon until thickened and coats back of spoon (approximately 175°F).
07 - Remove from heat. Stir in black sesame paste and vanilla extract, mixing until completely smooth.
08 - Strain custard through fine sieve into clean bowl. Cool to room temperature, cover, and refrigerate at least 4 hours until thoroughly chilled.
09 - Churn chilled mixture in ice cream maker according to manufacturer instructions until soft-serve consistency forms.
10 - Transfer to freezer-safe container, cover, and freeze at least 2 hours until firm enough to scoop.