In a medium saucepan, whisk together the granulated sugar, cornstarch, and a pinch of salt until the mixture is well combined.
Gradually whisk in the oat milk, non-dairy sweetened condensed milk, and coconut cream, ensuring there are no lumps.
Place the saucepan over medium heat and cook, stirring constantly, until the mixture thickens slightly and coats the back of a spoon, about 8-10 minutes. Do not let it boil.
Remove the saucepan from the heat and stir in the vanilla extract.
Pour the mixture into a bowl and allow it to cool to room temperature.
Cover the bowl and refrigerate for at least 2 hours, or until completely chilled.
Pour the chilled mixture into your ice cream maker and churn according to the manufacturer's instructions.
Transfer the churned ice cream into a freezer-safe container, cover, and freeze for at least 2 hours, or until firm.