1 Bring 2 cups milk to a simmer and remove from heat. Whisk in chocolate until melted. 2 Combine 1 cup milk with sugar and cornstarch in a separate bowl and add to hot milk. 3 Return to heat and cook on low heat for 10 minutes, whisking every couple of minutes. Allow to cool in refrigerator. 4 Once cold pour into ice cream maker and churn for about 30 minutes.