Add cocoa powder, malt powder, and sugar to a medium bowl. Stir to remove any clumps.
Pour in milk, heavy cream, and vanilla. Whisk together until sugar mixture is completely dissolved.
Chill in refrigerator for at least 30 minutes.
Pour into ice cream machine and mix according to machine instructions.
optional
Ice cream will be soft serve consistency. Transfer to a shallow container and freeze for at least 4 hours for ice cream consistency.
Use any ice cream machine you have according to its instructions. I use a KitchenAid with the ice cream maker attachment, and freeze the bowl for a minimum of 15 hours before use.
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