Be sure to freeze the bowl of your ice cream maker at least 24 hours in advance, if your ice cream machine requires it. In a blender, combine the water, peanut butter, maple syrup, and vanilla, and blend until smooth.
Pour the mixture into the frozen bowl of the ice cream maker, and process until thick and creamy, about 30 to 35 minutes.
You can enjoy the ice cream right away for a soft serve consistency, or transfer it to an airtight container and freeze for 2 to 4 hours more, for a more firm, scoop-able consistency. Leftover ice cream can be stored in an airtight container in the freezer for up to 3 months.
This recipe makes roughly 3 cups of ice cream, so the nutrition info is for 1/2 cup. This information is automatically calculated, and is just an estimate, not a guarantee.Don't have an ice cream maker? Pour the mixture into an airtight container and freeze until firm, about 8 hours. Stir the mixture every hour or so, to help incorporate air into the ice cream and make it creamier. (It will have a slightly more icy texture this way, but it's still delicious!)