google vegan ice cream recipes (as it is dairy-free), and will come up with a list of recipes.
Here is the link to a recipe I use to make dairy-free ice cream:
Bryanna's vanilla gelato
It also has a Youtube video embedded on the page to show you how to make it.
Even though she uses brown rice syrup in the video, just substitute with invert sugar syrup, or glucose syrup. I normally just buy rice syrup from the organic supermarket. You can also use honey instead (which I have done before), and it gives it a really nice taste.
For the tapioca starch, just substitute with cornflour or arrow root powder.
Hope that helps :-)