Soak the cashews in boiling water for at least one hour, then drain and set aside.

Blend the soaked cashews with half of the oat milk until smooth.

Add the remaining oat milk, maple syrup, and vanilla extract; blend until combined.

Churn the mixture in an ice cream maker for 20-30 minutes until soft-serve consistency.

Transfer to a freezer-safe container, press plastic wrap on the surface, and freeze for at least one hour.

Let the ice cream sit at room temperature for about 10 minutes before serving.