In a small saucepan bring maple syrup and dates just to boiling. Remove from heat. Cover and let stand for 20 minutes.
In a blender or food processor combine date mixture and the remaining ingredients. Cover and blend or process until smooth. Transfer to a bowl; cover and refrigerate 4 to 24 hours.
Freeze chilled mixture in a 1½- or 2-quart ice cream maker according to the manufacturer’s directions. Serve immediately for a soft-serve ice cream or freeze at least 2 hours for a scoopable ice cream.
