In a small pot combine milk and honey
Bring to a simmer and allow to simmer on low heat for 20 minutes to make homemade sweetened condensed milk (alternatively, substitute with a 14 oz can of sweetened condensed milk)
Place cold heavy cream in a large bowl and whip to stiff peaks
Add sweetened condensed milk, cocoa powder, and vanilla to the whipped cream
Beat on low speed until incorporated
Transfer into a container or dish
Freeze for at least 6 hours
Enjoy
