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1
In a mixing bowl, beat the sugar into the egg yolks until thickened and pale yellow; set aside.
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2
Bring the milk to a simmer in a saucepan; whisk in the cocoa and bring the milk back to a simmer; simmer 3 minutes, stirring constantly.
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3
Slowly beat the hot milk mixture into the egg mixture.
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4
Pour the entire mixture back into the pan and place over low heat.
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5
Stir constantly with a whisk or wooden spoon until the custard thickens slightly; be careful not to let the mixture boil or the eggs will scramble.
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6
Remove from heat and pour the hot custard through a strainer into a large, clean bowl; set aside.
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7
Bring the cream to a simmer in a small saucepan; immediately remove from the heat and pour the cream over the chopped chocolate in a bowl.
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8
Stir until the chocolate is melted and the mixture is smooth.
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9
Combine the chocolate mixtures, then stir in the vanilla; cover and refrigerate until cold or overnight.
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10
Stir the chilled custard; freeze in 1 or 2 batches in your ice cream maker according to the manufacturer's directions.
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11
When finished, the ice cream will be soft but ready to eat; for firmer ice cream, transfer to a freezer-safe container and freeze several hours or overnight.
