I have enjoyed all of the ice cream recipes from Alton Brown on the show Good Eats. I would suggest the valilla:
http://www.foodnetwork.com/good-eats/churn-baby-churn/index.html

and the banana, yum:

http://www.foodnetwork.com/recipes/alton-brown/banana-ice-cream-recipe/index.html
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Dairy free substitutes can be obtained from soy, coconut, rice or almond milk. Sometimes, sorbet can also be added.
You can prepare delicious vegan ice cream cake, vegan ice-cream coconut milk.
Common ingredients for vegan Ice-Cream are
Cashews
Water
Maple Syrup
Agave nectar
vanilla extract
Sea salt

More here: http://trailofview.com/trail/vegan
Source(s):
http://trailofview.com/trail/vegan

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Chocolate Velvet Ice Cream

INGREDIENTS (Nutrition)
2/3 cup white sugar
1/3 cup unsweetened cocoa powder
3 egg yolks, beaten
2 2/3 cups heavy cream
1/3 cup semisweet chocolate chips

DIRECTIONS
In large bowl, stir together sugar and cocoa. Add egg yolks and blend with electric mixer. Add cream a little at a time, beating well after each addition. Chill mixture in refrigerator.
While cream mixture is chilling, grate chocolate chips in blender or food processor or using a rotary grater, until fine. Stir into cream mixture. Freeze in canister of ice cream maker according to manufacturer's instructions.

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Peanut Butter Ice Cream

INGREDIENTS (Nutrition)
4 cups half-and-half cream
3 cups non-fat dry milk
3 cups milk
1 1/2 cups sugar
1 1/2 cups peanut butter
4 teaspoons vanilla extract

DIRECTIONS
Pour the half-and-half, dry milk, and milk into a large saucepan over low heat. Cook until heated, stirring to dissolve the dry milk. Stir in the peanut butter and sugar until smooth and sugar has dissolved. Remove from heat, and stir in the vanilla. Cool mixture, and refrigerate.
Stir the mixture, or blend in a blender before pouring into an ice cream maker. Freeze according to the manufacturer's instructions.
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