In a medium bowl, whisk together the cocoa, sugars, and salt. Add the milk and, using a hand mixer on low speed or a whisk, beat to combine until the cocoa, sugars, and salt are dissolved.
Stir in the heavy cream and vanilla. Cover and refrigerate for 1 to 2 hours, or overnight.
Turn your ice cream maker on; pour the mixture into the machine and freeze according to manufacturer instructions. If you're using an ice cream maker with a frozen bowl, it should take 15-20 minutes. If you're using one with a compressor, it will take a little longer, 25-35 minutes.
Scoop and enjoy!
No-Churn Instructions For this no-churn version, some of the ingredients and their corresponding measurements are different than what is stated in the recipe card, I’ve bolded the differences to make it a little easier to see. All of the other stated ingredients and their amounts are listed in the recipe card.
In a medium bowl, whisk together the cocoa and salt. Add in one can of sweetened condensed milk and vanilla then whisk until combined.
Whip 3 cups of heavy cream until soft to medium peaks form. Then fold the chocolate-sweetened condensed milk mixture into the whipped cream.
Cover and freeze until solid then scoop and enjoy!