Combine egg yolks, sugar, cocoa powder and milk in a double boiler over medium heat until the mixture coats the back of spoon {about 5-7 minutes}. DO NOT BOIL.

Place the mixture in the refrigerator to cool down {about 2 hours}.

Remove the mixture from the refrigerator, add gently stir in whipping cream just until combined.

Pour into ice cream maker and follow manufacturer’s instructions.