• Chill the bowl of the ice cream maker in the freezer for 24 hours.

Prepare the black sesame mixture

• Add the milk, heavy cream, sugar, salt and black sesame paste into a medium saucepan and heat over medium-low heat until the sugar and black sesame are evenly dissolved and the milk starts to simmer and foam. Stir often with a whisk and make sure that the milk does not boil.
  
• In a medium bowl, whisk the egg yolks.
  
• Slowly add the milk mixture to the eggs, 1/2 cup at a time, whisking constantly to ensure that the eggs don't curdle.
  
• Once the milk mixture is fully incorporated into the eggs, return the mixture to the saucepan and heat over medium heat. Continuously stir, until thickened.
  
• Meanwhile, prepare an ice bath for a medium bowl.
• Remove the saucepan from the heat and pour the black sesame mixture through a fine-mesh sieve into a medium bowl.
  
• Place the bowl with the mixture into the ice bath.
  
• When the mixture has cooled down, cover the bowl with plastic wrap and place in the refrigerator for at least 3 hours, or overnight if possible.
  

Churn and freeze the ice cream

• Once the mixture is thoroughly chilled, pour the mixture into the pre-chilled bowl of the ice cream maker.
  
• Churn for 25 minutes, or according to the manufacturer's directions.
• Transfer the soft ice cream into an airtight container and chill in the freezer for at least 3 hours, or overnight if possible.