I just got an inexpensive, small ice cream maker (Hamilton Beach), and I'm having fun making vegan ice cream. It's cheaper than buying non-dairy ice cream in the store, often lower in fat and calories, and I can play with flavors. I like to make a large batch of the liquid mix and then make one serving at a time. The ice cream from this machine is soft and doesn't keep well, but it's quick and easy.
My second try, this peanut butter chocolate chip ice cream, turned out great. The peanut flour gives it a peanut buttery taste with all the protein but a lot less fat. You could substitute any non-dairy milk combination for the coconut-almond mixture I used.
1 package silken tofu
3/4 cup coconut milk beverage
1/2 cup almond milk
1/4 cup agave syrup
1/4 cup maple syrup
Peanut flour (Trader Joe's carries this now)
Mini chocolate chips (I used Enjoy Life)
Mix all ingredients in a blender except chocolate chips until smooth. Pour into ice cream maker and add chocolate chips when almost ready.