To toast sesame seed. In a dry frying pan over medium heat, stirring for 2 minutes or until fragrant.

Beat ice-cream, sesame oil and sesame seeds in a large bowl with an electric mixer on low speed until just combined. Spoon into a 2.5-litre (10-cup) loaf tin. Cover, freeze for 4 hours or until firm.

Combine yeast, caster sugar and ½ cup of the milk in a small bowl, set aside in a warm place for 5 minutes or until foamy.

Combine flours and salt in a large bowl. Stir in vegetable oil, yeast mixture and remaining milk to form a sticky dough. Cover bowl with plastic wrap, set aside in a warm place for 40 minutes or until doubled in size.

Preheat oven to 100°C (80°C fan forced).

Combine brown sugar, walnuts and cinnamon in a small bowl.

Divide dough into 10 equal portions. Working with lightly oiled hands, flatten 1 dough portion in the palm of your hand. Place 1 tablespoon of the brown sugar mixture in the centre, pinch edges to enclose the filling, then flatten into a 10cm (4-inch) round. Repeat with remaining dough and sugar mixture.

Add enough vegetable oil to a deep medium frying pan to come 2cm (¾ inch) up the side, heat to 180°C (160°C fan forced) (or until a cube of bread turns golden in 10 seconds). Fry pancakes, in three batches, for 1 minute each side or until golden and cooked through. Drain on an oven tray lined with paper towel, keep warm in oven in between batches.

Serve hot pancakes with ice-cream.