Start by heating the whole milk in a saucepan over medium heat. Once it's warm, whisk in the granulated sugar and cocoa powder. Stir constantly to avoid any lumps and ensure the mixture becomes smooth. Once the sugar has dissolved and the cocoa is well incorporated, add in the chopped semi-sweet chocolate. Stir the mixture until the chocolate is fully melted and smooth.

Remove the saucepan from heat and allow the chocolate mixture to cool for a few minutes. Then, stir in the heavy cream and a pinch of salt. This will make the mixture rich and creamy. Finally, add the vanilla extract to enhance the flavor.

For the best results, refrigerate the chocolate base for at least 2-3 hours or overnight. Chilling the mixture ensures that the ice cream freezes more evenly in your Cuisinart ice cream maker, resulting in a smoother texture.

Once the mixture has chilled, pour it into your pre-chilled Cuisinart Ice Cream Maker bowl. Follow the manufacturer's instructions for your specific model (generally, it takes about 15-20 minutes for the ice cream to firm up). As the ice cream churns, it will thicken and become that rich, creamy texture we all crave.

When the ice cream has reached the consistency of soft serve, transfer it to an airtight container. Place it in the freezer for at least 3 hours to firm up further. After that, scoop out and enjoy!