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In a chilled bowl, combine cocoa and both sugars, whisking to combine well. Add milk and whisk until sugars are dissolved. Stir in heavy cream and vanilla. The colder everything is, the better.
Pour mixture into the freezer bowl of ice cream maker. Let run for 25-30 minutes, or until mixture is thick, soft, and creamy. Churned ice cream should increase in volume, reaching the top of the machine’s freezer bowl. Transfer to airtight container and freeze at least 2 hours or until ice cream is desired consistency.
Prior to serving, let ice cream sit at room temp for 5 minutes to soften enough for easy scooping.