In a mixing bowl, combine the coconut milk, maple syrup (or agave nectar), vanilla extract, and a pinch of salt.
Whisk the mixture until well combined and smooth.
Pour the mixture into an ice cream maker and churn according to the manufacturer's instructions until it reaches a soft-serve consistency.
If you don't have an ice cream maker, pour the mixture into a shallow dish and freeze for about 1 hour.
Stir the mixture vigorously with a fork to break up ice crystals, then return to the freezer. Repeat this process every 30 minutes for about 3 hours until firm.
Serve the vegan vanilla ice cream in bowls or cones.