Cut the pandan leaves into small pieces and set aside.
Heat the milk, cream and sugar in a saucepan on medium high heat until simmering then reduce to medium-low. Add the pandan and cook for 2 minutes, stirring occasionally.
Add a few drops of coconut essence and stir into the mixture.
Remove from heat and pour into an airtight container. Chill in refrigerator overnight to allow the pandan flavours to infuse.
Strain the liquid through a fine sieve and discard the leftover solids.
Churn in an ice cream maker according to the manufacturer’s instructions.
Scoop ice cream into a container and freeze for two hours or until hardened.