Roast black sesame seeds lightly in a pan until aromatic.
Grind the seeds into a smooth paste.
In a saucepan, heat milk and sugar until dissolved.
Add the sesame paste and mix well.
In a separate bowl, whisk egg yolks and slowly add the warm mixture.
Cook the mixture on low heat until it thickens slightly.
Let it cool, then add cream and mix thoroughly.
Churn in an ice cream maker or freeze, stirring every 2 hours for a smooth texture.
Scoop into crispy cones and serve.