Prepare low-sugar cooked red beans.
Add almond milk and erythritol to a bowl and mix together.
Add the prepared red beans and blend until smooth with a hand blender.
Add a little vanilla extract and mix evenly.
Pour into an ice cream container and freeze for 2 hours.
Stir once in the middle, then freeze for another 3 hours.
Scoop with a spoon and serve in a bowl.