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Soak your cashews in boiling water for at least an hour. Discard the excess water.
Place the cashews with half the oat milk into a blender. Blend until combined. Add the rest of the milk, maple syrup, and vanilla extract, and blend again until frothy and smooth.
Pour the mixture into an ice cream maker and churn until a soft ice cream remains (or churn as per the manufacturer's instructions). Transfer the ice cream mixture into a freezer-safe container and store in the freezer for an hour.
Once frozen, let the ice cream sit for 10 minutes, before scooping out.