Combine sugar, milk, salt, and cocoa powder in a saucepan over medium heat, stirring constantly. Bring to a simmer. Place the egg yolks into a small bowl. When chocolate mixture has completely cooled, stir in the cream, and vanilla. Pour into an ice cream maker, and freeze according to manufacturer's directions.
Combine sugar, milk, salt, and cocoa powder in a saucepan over medium heat, stirring constantly. Bring to a simmer. Place the egg yolks into a small bowl. When chocolate mixture has completely cooled, stir in the cream, and vanilla. Pour into an ice cream maker, and freeze according to manufacturer's directions.
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