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Scald the milk and cream in a glass bowl in the microwave for about 4-5 minutes on high power.
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In a large bowl mix together the cocoa and ½ cup sugar and salt until well combined with no lumps in the cocoa. Whisk in the scalded milk and cream and stir until the sugar is dissolved. Stir in the melted chocolate.
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Meanwhile whisk together the egg yolks and ¼ cup sugar until the mixture is thickened and is a light lemon color.
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Slowly pour in the scalded milk mixture stirring constantly.
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Cook until the custard coats the back of a wooden spoon, meaning that you can draw your finger across the spoon and see a definite path that your finger has left in the custard, about 170 degrees F.
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Remove from heat and add the vanilla extract. Chill completely in the refrigerator or in an ice bath.
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Process the custard for about 25-30 minutes in an ice cream maker. Chill for a couple of hours in the freezer before serving.