Before starting, make sure to pre-freeze the ice cream canister for your ice cream maker to ensure proper freezing.

In a large mixing bowl, whisk together the cocoa powder, cane sugar, brown sugar, and sea salt.

Whisk in the whole milk until the sugars and cocoa powder are dissolved, about 1-2 minutes.

Add the heavy cream and vanilla extract, whisking until fully combined.

Turn on your ice cream maker and pour the mixture into the pre-frozen canister with the churn paddle in place.

Cover the ice cream maker and let it churn until the mixture thickens, about 20-25 minutes.

When the ice cream reaches a soft, creamy texture, it's ready to serve. You can scoop it into bowls right away for soft-serve ice cream or transfer it to an airtight container and freeze for 2-3 hours for a firmer texture. Serve when ready.