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In a medium saucepan over low heat, combine coconut milk, honey, and xanthan gum (if using). Stir continuously until the mixture thickens enough to coat the back of a spoon, about 8 minutes. Set aside.
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In a heat-safe bowl, whisk the egg yolks until they reach a fluffy consistency. Add a small ladle of the warm mixture and stir until combined. Continue adding the warm mixture, one ladle at a time, until it's completely mixed into the egg yolks. Don't add too much of the warm mixture at once or you may end up with scrambled eggs.
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Cover the mixture and refrigerate until completely chilled (about 8 hours or up to 2 days).
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Blend chilled mixture with pureed pumpkin, pumpkin pie spice, and vanilla in a blender until smooth, about 30 seconds.
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Freeze the mixture in your ice cream maker according to the manufacturer's instructions and enjoy!