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In a medium bowl, whisk together the sugar, cocoa powder, and salt until combined.
Add Liquids:
Slowly pour in the milk and whisk until smooth with no lumps.
Stir in the heavy cream and vanilla extract.
Chill the Mixture:
Cover the bowl and refrigerate the mixture for at least 1 hour, or overnight for best results.
Freeze the Ice Cream:
If you have an ice cream maker, pour the chilled mixture in and churn according to manufacturer instructions (usually 20-30 minutes).
If you don’t have an ice cream maker, pour the mixture into a shallow container and freeze, stirring every 30 minutes until it reaches a creamy consistency (about 3-4 hours).
Serve:
Scoop into bowls or cones and enjoy immediately. Store leftovers in an airtight container in the freezer.
Serving and Storage Tips:
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