Mix together the sweetened condensed milk, cocoa powder and vanilla extract in a large bowl.
Pour the heavy whipping cream into a separate bowl and mix with a stand up mixer or hand held mixer for 2-3 minutes until it holds stiff peaks.
Gently stir the whipped cream into the cocoa mixture until well combined and be careful not to overtax.
Then spread the mixture in a 9 in loaf pan. Cover with foil and freeze for at least 6 hours.
Then scoop out with an ice cream scoop and enjoy!
Notes
Serve this ice cream topped with your favorite toppings: chocolate chips, whipped cream, crushed up candy, etc! This homemade ice cream will be good for up to 3 months in the freezer.