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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!