Add vanilla bean paste into the almond milk.
In another saucepan, beat 3 egg yolks and sugar. Make sure to gradually add (small dribbles) the hot cream mixture into the egg and whisk thoroughly after each addition. Since the egg is raw and the hot mixture will cook the egg, so add the hot mixture very slowly, so you don't get pieces of cooked egg.
Now stir the egg and almond milk mixture over low heat until it slightly thickens and coats the back of a spoon, about 7 minutes; do not boil. Remove from heat.
Pour into a bowl and cover. Place in the refrigerator for a couple of hours so that the milk is chilled.
Take ice cream mixture out of the fridge and place in a chilled Kitchen Aid ice cream maker bowl.
See video on how to attach the Kitchen Aid paddle to the mixer.
Lock bowl and arm in place and set the speed to Stir.
Mix the cream for about 25 minutes. The ice cream will set up and will resemble the texture of soft-serve ice cream.
If you want it to be slightly harder, set in a container and place in the freezer for an hour or more.