Dissolve the gelatin in a little hot water (not listed).
Heat the soy milk in a saucepan. When warm, stir in the sesame paste a bit at a time.
Remove from the heat, and mix in the maple syrup (or honey). Add the gelatin and vanilla essence.
Pour into a freezer-safe bowl or tupperware container and put in the freezer.
Mix well with a fork after an hour, and then again an hour later. Leave it to harden in the freezer.
Transfer it to serving bowls, top with the sesame seeds, and it's done! I recommend you let it melt a little at room temperature (like in the photo) before serving.
Story Behind this Recipe
I'm breastfeeding, so I'm cutting down on sugar and dairy products. I based this on a recipe from a macrobiotic cookbook, reduced it to the essential steps and cut out any high-calorie ingredients. This is an ice cream that even people with dairy allergies can enjoy.
If you have a blender, mixer, or similar appliance, use it to mix at the 2 hour mark in Step 5. Adjust the amount of sweetener to your linking.