Heat the milk, cream and vanilla in a medium saucepan over medium heat until just bubbling around the edges.

In a food processor, add the chocolate and sugar until finely chopped, then add the hot milk mixture and continue processing until thoroughly mixed and smooth and the sugar dissolves and the chocolate melts.

Once done, transfer it to a medium bowl and cool completely.

Once cool, cover with plastic wrap and place in the refrigerator for at least two hours, but preferably overnight.

When ready, take it out of the refrigerator, transfer it to the Cuisinart ice cream machine, use the ice cream paddle, and make it according to the manual instructions.

It's ready to eat so transfer to the serving bowls and serve immediately or if you want a firmer consistency, transfer to an airtight container and store in the freezer for 2 weeks.