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Melt the chocolate in the top of a double boiler over hot but not boiling water.
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Gradually whisk in the cocoa and heat, stirring constantly, until smooth.
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The chocolate may seize or clump- the milk will fix this when it's added.
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Whisk in the milk, a little at a time and heat until completely blended.
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Whisk the eggs in a mixing bowl until light a fluffy, 1-2 minutes.
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Whisk in the sugar, a little at a time, then continue whisking until completely blended, about 1 minute more.
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Add the cream and vanilla, whisk to blend.
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Pour the chocolate mixture into the cream mixture and blend.
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Cover and refrigerate until cold, about 1 to 3 hours, depending upon your refrigerator.
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Transfer the mixture to you ice cream maker and freeze according to the manufacturer's directions.