Beat egg yolks lightly. Beat in sugar. Heat the cream/milk on the stove. As it's heating, beat in cocoa powder. Heat cream/milk/cocoa mix until steaming. Stir into egg/sugar mix. Add vanilla extract. Cool. Freeze in ice cream maker.
Notes:
I use Dutch processed cocoa (instead of American processed), but I'm not sure how much difference it makes. I've tried using a higher milk fat content, but then the mix takes on the consistency of pudding when cooled, and doesn't freeze hard enough in ice cream maker.

CHOCOLATE version 2

4 oz unsweetened chocolate (I used Ghirardelli)
1 1/4 cup milk
2 eggs, lightly beaten
1 cup sugar
1 cup cream
1 pinch salt
1 tsp pure vanilla extract
1/2 cup milk

Melt chocolate over low heat while heating milk over low heat. Gradually stir milk into melted chocolate. If you don't stir milk in gradually, chocolate will clump and you will have difficulty breaking it down. If you stir milk in gradually, chocolate will clump, but you'll be able to break it down when you add a little more milk. Heat while stirring until smooth. Mixture will become thick. Beat sugar into eggs. Stir in hot chocolate/milk mixture into eggs. Add cream, salt, vanilla, and extra 1/2 cup milk. Cool. Freeze in ice cream maker.

CHOCOLATE version 3

3 eggs
1/2 cup sugar
8 oz bittersweet chocolate
1 cup milk
2 cups table cream (18% milk fat)
1 tablespoon cocoa powder
1 tablespoon vanilla extract
Beat eggs lightly. Beat sugar into eggs. Heat chocolate, milk, and 1 cup of cream together in a sauce pan. Stir occasionally until chocolate starts to melt. When chocolate partially melted, stir in cocoa powder. When hot (and chocolate fully melted and cocoa dissolved) but not boiling, remove from stove and stir in to eggs. Add second cup of cream and vanilla. Cool. and make in ice cream maker.

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