Prepare Tapioca Mixture: In a small bowl, whisk together the tapioca starch with a couple of tablespoons of milk until smooth, creating a slurry. Set aside.

Heat Mixture: In a medium pot, combine the remaining milk, thickened cream, white sugar, and glucose syrup over medium-low heat. Stir continuously until dissolved, about 5 minutes. Slowly stir in the tapioca slurry and remove from heat.

Toast Marshmallows: Preheat your grill or oven to medium-high. Spread marshmallows on a baking tray and toast until golden brown on one side, about 2-3 minutes. Flip and toast the other side.

Blend Ingredients: After cooling for at least 15 minutes, combine the ice cream mixture and toasted marshmallows in a large bowl. Blend until smooth and strain into a heat-proof container. Chill in the fridge for at least 4 hours.

Churn Ice Cream: Chill your ice cream storage container for 30 minutes. Blend the chilled mixture again and pour into the ice cream machine. Churn until it reaches a soft serve consistency, 20-30 minutes.

Freeze: Transfer the churned ice cream into the container, cover tightly, and freeze for about 4 hours or until firm.