Churned Method:

1. In a medium saucepan over medium heat, whisk together the milk, sugar, cocoa powder, espresso powder, and malted milk powder until everything is dissolved.
2. In a separate bowl, whisk the egg yolks. Slowly pour about ½ cup of the warm milk mixture into the yolks, whisking constantly.
3. Return the mixture to the saucepan and cook over low heat, stirring until it thickens slightly (it should coat the back of a spoon).
4. Remove from heat and stir in the heavy cream, vanilla, and salt.
5. Let the mixture cool completely, then chill for at least 4 hours (or overnight).
6. Churn in an ice cream maker according to the manufacturer’s instructions. Transfer to a container and freeze until firm.

No-Churn Method:

1. In a mixing bowl, whisk together the sweetened condensed milk, cocoa powder, espresso powder, malted milk powder, vanilla, and salt.
2. In a separate bowl, beat the heavy cream to stiff peaks.
3. Gently fold the whipped cream into the condensed milk mixture.
4. Pour into a loaf pan or container, cover, and freeze for at least 6 hours.