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1
In a large bowl, beat the egg yolks lightly with a whisk, about 30 seconds.
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2
Add the cocoa, sugar, and 2 tablespoons of the milk and beat until thickened and dark, glossy brown in color, about 3 minutes.
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3
In a small saucepan, heat 1 1/2 cups half-and-half and the cream over medium-low heat until a candy thermometer registers150 degrees F. (You may see steam rising from the pan, but the milk and cream should not start to boil.)
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4
With a sharp knife, slice the vanilla bean lengthwise, scrape the tiny black seeds into the half-and-half, and add the vanilla bean to the pan.
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5
Add the grits and continue to cook, stirring occasionally and maintaining the temperature around 150 degrees F, until the grits swell and the mixture thickens to the consistency of a thin porridge, about 10 to 20 minutes, depending on the freshness of the grits and the coarseness of the grind.
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6
Remove the vanilla bean and discard.
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7
Whisk 1 cup of the half-and-half and grits mixture slowly into the cocoa mixture, stirring constantly until the liquids are thoroughly incorporated.
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8
Add the chopped chocolate to the grits mixture remaining in the saucepan and stir until it dissolves, 2 to 3 minutes.
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9
Stir the cocoa mixture into the grits and chocolate mixture and cook over low heat, stirring occasionally to prevent scorching, until the custard thickens to the texture of a thick, liquid pudding, 8 to 12 minutes.
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10
Let cool to room temperature and transfer to a container.
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11
Press plastic wrap onto the surface of the custard and refrigerate for 4 hours or overnight, until the custard is very cold.
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12
Pour the custard into an ice cream maker and churn according to the manufacturer's instructions until the ice cream becomes very thick and holds its shape.
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13
Quickly transfer the ice cream to a container with a tight-fitting lid.
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14
If there is any space between the surface of the ice cream and the lid, pat a sheet of plastic wrap on the surface.
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15
Cover the container.
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16
Freeze the ice cream until it has hardened, at least 2 hours.
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17
Remove from the freezer 10 minutes before serving and remove the plastic wrap.
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18
Serve small scoops of ice cream in bowls, and garnish with shaved chocolate or for fun, a pinch of dry, raw grits.