Ensure ice cream canister and churner blades are frozen and stored in the freezer until ready to use.
Preheat oven to 350 degrees.
Toss sliced strawberries with balsamic vinegar and sugar.
Place on sheet pan and roast until soft and caramelized, 20-25 minutes.
Remove to small bowl and place in the refrigerator to cool.
In a small saucepan over medium heat, bring almond milk to a simmer. Remove from heat.
Whisk egg yolks and sugar in a medium bowl until light and ribbons fall off the spoon.
Slowly pour ½ cup hot almond milk into sugar mixture and whisk constantly to temper, then slowly pour the warmed sugar mixture into the almond milk in the saucepan, whisking constantly to prevent custard from curdling.
Place the almond milk custard in a large bowl, cover and chill completely (38 degrees or less). The colder the mixture, the slower your ice cream churner will lose it's chill and the better your ice cream will freeze.
Once cool, start ice cream maker to manufacturer's directions and pour the almond milk custard in. Slowly spoon in balsamic strawberries and churn until thick.
Enjoy immediately like soft serve, or transfer to a shallow container, cover and freeze at least a few hours or overnight.