Add the cashew milk in a small saucepan and place it over low heat. Once it simmers, remove it from the heat.
In a mixing bowl, whisk together the egg yolks with powdered sugar and vanilla powder until combined. Gently whisk in the warm milk until combined. Be sure to do so carefully to ensure the egg yolks don't get cooked.
Transfer the mixture back into the saucepan and place back over low heat and let it simmer until it thickens.
Cover the saucepan and refrigerate it for at least 2 hours, or until chilled.
Once chilled, pour the mix into an ice cream maker bowl and churn in the ice cream maker for 5-10 minutes.
Enjoy immediately or freeze until completely frozen.