Start by combining the whole milk, heavy cream, and sugar in a medium saucepan. Whisk them together over medium heat until the sugar is fully dissolved. This should take about 3–4 minutes.

Once the sugar has dissolved, add the cocoa powder and whisk to incorporate it smoothly. Stir in the semi-sweet chocolate chips and continue to cook for another 5 minutes, allowing the chocolate to melt completely, leaving you with a rich, velvety chocolate mixture.

If you want a more luxurious, creamy texture, you can make a custard by whisking the egg yolks in a separate bowl. Gradually pour in some of the warm chocolate milk mixture into the egg yolks while whisking constantly. Once combined, slowly whisk the egg mixture back into the saucepan. Continue to cook over low heat for another 5–7 minutes until it thickens. Be careful not to let it boil.

After the custard or milk mixture has thickened to your liking, remove it from the heat. Stir in the vanilla extract and a pinch of salt. Allow the mixture to cool for about 30 minutes at room temperature before transferring it to the refrigerator to chill for at least 3–4 hours, or overnight for best results.

Once the base is fully chilled, pour it into your ice cream maker and churn according to the manufacturer’s instructions. This usually takes about 20–25 minutes. The ice cream will thicken and freeze to a soft-serve consistency.

After churning, transfer the ice cream to an airtight container and place it in the freezer for another 2–4 hours to firm up. If you like a softer consistency, you can enjoy it right after churning!