it doesnt even need icann itself.
try to reach certain domains in certain countries.
try to reach the pirate bay.
try to reach the internet archive in the UK
try to reach sci hub
a lot of open source security related tooling is also censored
and then of course people get deplatformed in some countries ... thats a very common practice.

oh and torrent trackers where victim too.

...theblist goes on. I am actually surprised by your question 

 What are you going on about? Aren't we talking about ICANN and whether or not they regular censor/take down domains? 

 DNS or domains are a hierarchical system and there are multiple levels on which censorship can occur. it can always escalate to the next level. it is routinely used and enabled by the way DNS works.