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In a heavy-bottomed saucepan, whisk together egg yolks, sugar, corn syrup, and cocoa powder until well combined. Whisk in cream and milk until yolk mixture is fully incorporated.
Place pot over medium-low heat and cook, whisking frequently, until a custard forms on a spoon and a finger swiped across the back leaves a clean line, or until custard temperature reaches 170°F (77°C). Stir in salt and vanilla.
Strain custard through a fine mesh strainer and chill in either ice bath or refrigerator until it is very cold, about 40°F (4°C). Churn in ice cream maker according to manufacturer's instructions, then serve right away or transfer to an airtight container and chill in freezer for 1 hour to let custard firm up slightly. Serve custard within 2 hours of it being made (see note).
Optional: To make concrete-style drinks, finely chop up ingredients like M&M's, heath bars, cookies, or pretzels and store in freezer, then add to ice cream machine during last 2 minutes of churning. Serve right away in a glass or cup with a straw and a long spoon.