Put the tapioca starch into a small bowl. Measure the milk. Add a couple of table spoons of milk into the bowl with the tapioca starch and mix well to form a slurry.
Add remaining milk, cream, sugar and glucose syrup (if using) to a small saucepan.
Heat on high, stirring well until all the sugar is dissolved.
Add tapioca starch slurry and mix well for a few minutes.
Remove from heat and allow to cool for a few minutes.
Add vanilla essence or extract and mix well.
Transfer to heatproof container, cover and chill in fridge for at least four hours, ideally overnight.
Put storage container into freezer to chill
If using a self churning machine turn it on ten minutes before churning to cool down. Other wise remove the bowl from the freezer just before churning.
Churn the ice cream. It will be the consistency of soft serve when done.
Transfer churned ice cream to chilled container and freeze until firm.
To serve remove from the freezer, scoop and enjoy! Great on its own, in a ice cream sundae or pared with your favourite desserts. Delicious!