In a medium bowl, whisk together the sweetened condensed milk, vanilla and half-and-half until smooth. Stir in cocoa powder until no clumps remain. Set aside.
In a separate bowl and using a hand mixer, mix heavy cream until stiff peaks form, about 1 to 2 minutes.
Fold the whipped cream into the bowl of mixed ingredients. Gently stir until no lumps remain and the mixture is smooth.
Transfer mixture to a 9-inch by 5-inch loaf pan and spread evenly. Freeze uncovered for 3 to 5 hours or overnight. Scoop and serve with chocolate sauce, whipped cream or any other ice cream toppings you enjoy! Cover any leftovers with a layer of plastic wrap or aluminum foil.
Notes
Ingredients: Use full fat ingredients for the best texture. Dutch processed cocoa will provide the best chocolate flavor.Homemade ice cream will last up to two weeks in an airtight container or securely covered. After two weeks, the texture will become icy and granulated.Mix-in ideas: Chopped nuts, candy bits, mini chocolate chips, day old broken cookies or brownie bits, fresh fruit.