I have made freezer ice cream with vanilla beans and other spices.

Here is a recipe for dairy-free version...unfortunately it wants an ice-cream maker but I KNOW the freezer version is possible if you stir enough and use the double bowls...trying to remember...

http://thecoconutmama.com/coconut-milk-vanilla-bean-ice-cream/

Here is idea, but not enough detail on doing without ice cream maker...

http://minimalistbaker.com/vanilla-bean-coconut-ice-cream/

I SWEAR there are people who do it with pots and bowls and bags and a whisk and a stove and a freezer! Harrumph.

Or there is vanilla jasmine rice pudding...

https://17andbaking.com/2010/02/08/vanilla-bean-jasmine-rice-pudding/

Or mix it in quinoa and top with fresh fruit...

http://www.simplyhappenstance.com/berry-vanilla-quinoa-bowl/

Or here are a few wilder and stranger ideas:

Moss Gelatin (with vanilla)
https://www.bustle.com/articles/115462-16-weird-recipes-from-100-years-ago-that-we-totally-should-be-eating-today

Roasted Strawberry Frozen Yogurt (with vanilla)
or
Vanilla Madeleines ( but gluten :( ... )
http://www.huffingtonpost.com/2015/02/09/vanilla-bean-recipes_n_6630170.html

Muesli
http://www.injennieskitchen.com/2012/01/toasted-vanilla-bean-muesli-/

Savory Vanilla Mayonnaise on Sunchoke Tater Tots
http://www.seriouseats.com/2015/09/hey-chef-savory-uses-for-vanilla.html

... I'm sure you'll figure out something.