Combine milk, sugar and cocoa powder together in a saucepan.

Cook on low flame till the cocoa powder dissolves completely and the mixtures look thickened.

Switch off, add the vanilla extract and allow to cool.

Whip the cream till soft peaks.

Add the cooled chocolate milk and whip till combined.

Pour into a container and allow to freeze for two hours.

Take out and whip to break the ice crystals.

Put back into the freezer and freeze overnight or till well set.

To serve, leave on the kitchen top for five minutes. Scoop out and serve.