Which IPsec protocol provides both data integrity and encryption?

Ciphering is needed when you want that only authorized people can ACCESS TO SEE the data. Integrity is when authorized people can ACCESS TO MODIFY the data . As you can see, both ciphering and integrity need an authentication and authorization phase before.

Encrypting with your private key is more commonly known as signing. This provides integrity, but not confidentiality. Everyone knows your public key, so they can “decrypt” (verify) the message.

The ESP protocol provides secure transmission through both encryption and authentication.

Transport Layer Security (TLS) is a protocol designed to add confidentiality as well as integrity and authenticity to network communications.