01 - Toast black sesame seeds in a dry skillet over medium heat for 3-4 minutes, stirring constantly until fragrant. Remove from heat and allow to 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, avoiding boiling.
04 - Whisk egg yolks with remaining sugar and salt until pale and thick. Gradually pour hot milk mixture into yolks while whisking constantly.
05 - Return mixture to saucepan. Cook over low heat, stirring with wooden spoon until slightly thickened and coating the back of spoon (approximately 175°F).
06 - Remove from heat. Stir in black sesame paste and vanilla extract, mixing until completely smooth.
07 - Strain custard through fine sieve into clean bowl. Cool to room temperature, then cover and refrigerate for at least 4 hours until thoroughly chilled.
08 - Process chilled mixture in ice cream maker according to manufacturer's instructions until consistency reaches soft-serve stage.
09 - Transfer churned ice cream to freezer-safe container. Cover and freeze for minimum 2 hours until firm before serving.