1In a medium saucepan, combine the fresh milk, unsweetened cocoa powder, and granulated sugar.
Whisk the mixture thoroughly over medium heat until the cocoa powder and sugar are fully dissolved and the mixture is smooth. Do not let it boil.
Remove the saucepan from the heat and stir in the vanilla extract.
Allow the mixture to cool to room temperature, then cover and refrigerate for at least 2 hours, or until completely chilled.
Once chilled, pour the mixture into your ice cream maker and churn according to the manufacturer's instructions (usually about 20-30 minutes).
Transfer the churned ice cream to a freezer-safe container, cover, and freeze for at least 4 hours or until firm.
Scoop and serve your homemade chocolate milk ice cream. Enjoy!