Place the sugar, cocoa powder, and salt into a saucepan. Whisk them together well. This helps remove small lumps before adding the liquid ingredients.

Slowly pour the milk into the saucepan while whisking continuously. Mix until the cocoa powder completely dissolves and the mixture becomes smooth.

Place the saucepan over medium heat. Stir often until the mixture becomes hot. Do not let it boil because boiling may change the smooth texture.

Add the chopped dark chocolate into the warm mixture. Stir gently until the chocolate melts completely and blends into a rich chocolate base.

Pour in the heavy cream and stir well. The cream makes the ice cream smooth, rich, and creamy while balancing the deep chocolate flavor.

Remove the pan from the heat. Stir in the vanilla extract. If using egg yolks, temper them first before adding to avoid curdling.

Let the chocolate mixture cool to room temperature. Cover it and place it in the refrigerator for at least two hours until fully chilled.

Pour the chilled mixture into an ice cream maker. Churn according to the manufacturer's instructions until it becomes thick and creamy like soft serve.

Transfer the churned ice cream into a freezer-safe container. Smooth the top with a spatula. Freeze for four hours until firm enough to scoop.

Remove the ice cream from the freezer. Let it sit for five minutes before scooping. Serve with your favorite toppings and enjoy every creamy bite.