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In a heavy bottom medium sized saucepan, add the yolks, sugar, corn syrup, salt, and cocoa powder. Whisk together to combine. Note: I like to sift the cocoa powder, but you don't have to.
Set over medium heat and slowly whisk in the cream and milk, whisking constantly to combine everything. Cook, whisking or stirring constantly, until the mixture thickens. You do not want it to come to a boil, so watch carefully. I like to switch between my whisk and a silicone 'spoonula' to be able to scrape the sides and bottom of the pan so nothing scorches. You may need to lower your temperature to medium-low, depending on your stove.
When the mixture is thick enough to coat the back of a spoon it's done.(For me this whole process took about 12 minutes.) Immediately pour through a mesh seive into a bowl and stir in the vanilla. Cover and chill until cold.
Churn your chilled mixture according to your machine's instructions. Mine takes 20 minutes. You can enjoy the custard right away, or transfer to a container and freeze for up to 4 hours. Frozen custard has a wonderful silky texture that is best enjoyed within 4 hours of making.