Place milk in a medium saucepan and heat over medium heat until it just begins to simmer.

Meanwhile, in a medium bowl, whisk together the sugar, salt, cocoa powder and egg yolks. Gradually pour about half of the hot milk into the egg yolk mixture, whisking vigorously the entire time.

Transfer egg yolk mixture into the saucepan with the rest of the milk. Cook over medium-low heat, stirring frequently, until mixture thickens and doesn't flow back together when separated with a wooden spoon. (~4-5 minutes).

Remove mixture from the heat and add the chopped chocolate; stir until chocolate is fully melted.

Add the heavy cream and vanilla extract; stir until well combined.

Pour the mixture through a fine mesh strainer into a clean container. Cover with plastic wrap, pressing the plastic directly to the surface of the mixture. Refrigerate at least 3 hours or overnight.

Pour mixture into an ice cream maker and freeze according to the manufacturer’s directions.

If you desire a firmer ice cream, transfer the finished ice cream into the freezer for a couple of hours.