Gather all ingredients.
In a Mixing bowl, whisk together the milk, cocoa powder, and sugar. Whisk until the sugar and cocoa completely dissolve.
In another large bowl, beat the heavy cream until it forms stiff peaks then mix in the vanilla. Fold the cocoa powder mixture into the whipped cream until all cocoa mixture is incorporated. Store mixture in the in refrigerator for about 20 minutes. Then pour mixture into the cold canister follow the directions for your ice cream maker. Once the ice cream is complete, place the mixture in a covered container to chill in the freezer. Once it is set, enjoy!
*Directions for ice cream makers vary, so please follow the directions for your machine.