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Add the avocado and coconut milk to a food processor/blender and pulse together.
Add the remaining ingredients and blend in for about 2 minutes until smooth and incorporated, scraping down the bowl once.
Place all ice cream base into a freezer-safe container in the refrigerator for 2 hours to set up before freezing. Freeze the ice cream according to the manufacturer's instructions for your machine.
Place all ice cream base into a freezer-safe container and place in the freezer and allow to freeze for 1 hour.
Whisk slightly every 20 minutes to avoid it getting too icy for 3-4 hours. It should be getting thicker after each whisking, until it's firm enough to scoop.
To eat: serve immediately or when you are ready for it (after it's been in the freezer), thaw for 5-10 minutes and scoop with an ice cream scoop.
You can optionally add hot fudge and sprinkles on top.