2 cups whole milk
1 cup heavy cream
3/4 cup granulated sugar
1/2 cup unsweetened cocoa powder
4 ounces dark chocolate
4 large egg yolks
1 teaspoon pure vanilla extract
Combine milk, heavy cream, and cocoa powder in a saucepan. Whisk and heat on medium heat until warm.
Remove milk mixture from heat and add chopped dark chocolate. Stir well until melted.
Whisk egg yolks and sugar in a bowl until creamy. Gradually pour warm chocolate mixture into egg yolks while whisking continuously.
Cook the mixture on low heat and stir constantly until custard thickens. Add vanilla, strain the mixture, and chill in the fridge for 4 hours.
Once chilled, churn the mixture using ice cream maker. Freeze gelato in an airtight container and set for 2-4 hours before serving.