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Mix the egg yolks, powdered sweetener, and salt in a large bowl.
Add the almond milk, heavy cream, and cocoa powder in a medium saucepan over medium heat and cook on medium until the mixture starts to simmer.
Remove the saucepan from the heat and slowly pour the hot cream mixture over the egg yolk.
Transfer the mixture back to the saucepan and cook on low for 5 minutes until it reaches 170F/76C.
Remove the saucepan from the heat, and refrigerate for at least 4 hours. Make sure to cover it with some cling film, but leave a small air gap at the sides to prevent a skin from forming.
Pour the cold mixture into a pre-frozen ice cream maker bowl and churn it according to the manufacturer's instructions, which should take anywhere from 20 minutes to 1 hour. Don't worry if the mixture doesn't quite reach a soft serve consistency – it'll set up nicely in the freezer.
Enjoy it immediately, or freeze it until solid for a firmer chocolate ice cream.
If you leave it in the freezer overnight, you might need to let it soften at room temperature for about 15-20 minutes before scooping.