In a medium saucepan, whisk together the cocoa powder, sugar, and salt. Gradually add the milk, stirring to dissolve the cocoa powder mixture. Place the saucepan over medium heat and bring the mixture to a simmer. Keep whisking to ensure it doesn’t burn.

In a separate bowl, whisk the egg yolks until smooth. Slowly pour about a cup of the hot cocoa mixture into the yolks while whisking constantly to prevent curdling. Once the yolks are warmed, pour the yolk mixture back into the saucepan with the remaining cocoa mixture.

Stir the mixture continuously over medium heat until it thickens to a custard-like consistency. This should take about 5-7 minutes. To check, dip a spoon into the custard and run your finger along the back. If the line remains, it’s ready!

Once the custard is thickened, remove it from heat and stir in the vanilla extract. Pour the mixture through a fine mesh sieve into a clean bowl to remove any cooked egg bits. Allow the mixture to cool to room temperature, then cover and refrigerate it for at least 2 hours (or overnight) to chill completely.

Pour the chilled custard into your Cuisinart Ice Cream Maker and follow the manufacturer’s instructions. It usually takes about 15-20 minutes for the ice cream to reach a soft-serve consistency.

Once the ice cream is churned, transfer it to an airtight container and freeze for an additional 2-3 hours to firm up. When you’re ready to serve, scoop and enjoy!