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In a large bowl, whip the heavy cream until stiff peaks form.
In a separate bowl, whisk together the sweetened condensed milk, cocoa powder, and vanilla extract until smooth.
Gently fold the whipped cream into the chocolate mixture until well combined.
Pour the mixture into a loaf pan or other freezer-safe container.
Put in the freezer and whisk it every 30 min. for 2 hours
For vanilla ice cream you use this same recipe but instead of cocoa powered, add 1-2 tablespoons of vanilla extract! Depending on how strong you want the vanilla taste.