Add vanilla bean paste to a saucepan with the almond milk.
Place the almond milk on the stove. Cook over a medium to low flame. Bring to a boil.
Separate the egg yolks and place the yolks in another saucepan. Beat the 3 egg yolks with the sugar.
Remove boiling almond milk from the stove and slowly add the hot cream to the egg mixture. Mix with a hand-held mixer and make sure to dribble a little bit of the milk slowly and mix the egg in thoroughly after each addition. Since the egg is raw the hot mixture will cook the egg. So, I can't stress that you need to add the milk slowly so you don't get pieces of cooked egg.
Once the milk and egg are combined in the saucepan, return it to the stove. Over a medium to low heat stir until the custard is like a runny pudding. It will coat the back of a spoon and when you run your finger through, it won't bleed. This takes about 14 minutes. Remove from heat. I can't say enough that it won't set up like a thick custard.
Pour custard into a pyrex 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 in place and lower arm and attachment on top of the paddle. Set the speed to "Stir" mode.
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 your ice cream to be slightly harder, set it in a container and place in the freezer for an hour or more.