Step 1

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.

Step 2

Stir in the heavy cream and vanilla. Cover and refrigerate for 1 to 2 hours, or overnight.

Step 3

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.

Step 4

Scoop and enjoy!