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