Add milk and cocoa powder to a pot, and heat until you see a light boil (a few small boil bubbles). Then turn the heat off.
Take the pot off the heat and let cool for a few minutes.
Add your egg yolks to a separate mixing bowl and beat with sugar to emulsify until pale or lighter yellow color.
Add slightly cooled mixture to egg yolks and constantly stir with quick motions (prevent curdling).
When combined, set in refrigerator to cool down for about 15 minutes or longer.
Prepare ice cream maker machine and bowl if you will be using one to set the soft serve ice cream. Take bowl out of freezer for about 30 minutes if it has been in the back of the freezer. Freezer temps vary but you want the bowl cold enough but e.g. not with frozen icicles on the sides but not water condensation. Tip: for the balance, have the bowl a little less cold because you can always freeze the ice cream back up in the freezer. And soft serve is more creamy, watery, and soft than ice cream.
Alternatively, if you are not using an ice cream maker/bowl, be sure to stir the ice cream every half hour or so to remove any forming icicles.
