Steps:
- Bring 2 cups of the milk to a simmer in a medium saucepan over medium heat. Remove from heat. Meanwhile, combine remaining 1 cup milk with sugar, cornstarch, and cocoa in a bowl. Add to hot milk and stir over low heat until sugar and cocoa dissolve. Allow to cool, then cover with plastic and refrigerate overnight. Process mixture in an ice cream maker according to manufacturer's instructions.
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