Preheat your oven to 300°F (150°C) to toast the walnuts. Spread them evenly on a baking sheet and toast for about 5 minutes, or until they become fragrant and slightly golden.

In a blender, combine diced fresh figs, whole milk, and white sugar. Blend until smooth and creamy, about 1-2 minutes.

Pour the blended fig mixture into a mixing bowl. Add the heavy cream and vanilla extract, whisking until fully combined.

Transfer the mixture into your ice cream maker, churning for about 20 minutes, or until it thickens to a soft-serve consistency.

During the last 5 minutes of churning, add the chopped toasted walnuts. Mix thoroughly to evenly distribute.

Transfer the ice cream to a freezer-safe container, smooth the top, and load with a lid or plastic wrap. Freeze for 3-4 hours until firm.

Before serving, let the ice cream sit at room temperature for 5-10 minutes to soften slightly.