Toast the sesame seeds in a dry skillet over medium heat for 15–20 seconds until fragrant and slightly darker.

Whisk egg yolks and granulated sugar together until smooth and light in color, about 1-2 minutes.

In a medium saucepan, combine whole milk, heavy cream, and vanilla extract. Heat over medium heat until steam rises, about 5 minutes.

Gradually whisk about 1/4 cup of the hot cream mixture into the egg yolk mixture to temper the eggs.

Pour the tempered egg mixture back into the saucepan with the remaining cream mixture. Cook over low heat until thickened to 170°F (77°C), 5-7 minutes.

Strain the mixture through a fine-mesh sieve, add ground black sesame powder, and blend with an immersion blender until smooth.

Cool the mixture to room temperature, cover, and refrigerate for 6-8 hours until chilled.

Churn the ice cream mixture in an ice cream maker according to the manufacturer's instructions for 15-20 minutes.

Transfer churned ice cream to an airtight container, smooth the top, cover, and freeze overnight.