In a saucepan, whisk together the non-dairy milk, sugar, cornstarch, and salt until well combined.
Place the saucepan over medium heat and whisk the mixture constantly until it starts to thicken and just begins to simmer (about 8-10 minutes).
Remove the saucepan from the heat and whisk in the vanilla extract until fully combined.
Allow the mixture to cool for a few minutes, then transfer it to a blender and blend until smooth.
Pour the mixture into a container and refrigerate until chilled (at least 2 hours).
Once chilled, pour the mixture into an ice cream maker and churn according to the manufacturer's directions.
Transfer the ice cream to a freezer-safe container and freeze until completely solid (at least 2 hours).
Serve and enjoy!
