Every summer vacation, my daughter and I make ice cream. This year we made chocolate.
1 Large can sweetened condensed milk
1 pint of cream
3 Tbsp. unsweetened cocoa powder
Whisk all ingredients in a bowl until the cocoa poweder is almost all incorporated. Pour into the bowl of an ice cream maker. Follow the maker's directions for churning. When this is done, put the ice cream in the freezer. If the bowl can go in the freezer do so with plastic wrap on top. If it can't, scrape the ice cream into plastic containers with lids. In 3-4 hours, it will be "soft serve" and in 7-8 hours it will be hard.
For Vanilla ice cream, swap out the cocoa powder for 2-3 tsp. Vanilla Extract.
This is similar to the one I have...Ice Cream Maker