In a medium saucepan, combine the milk, heavy cream, sugar, salt, and vanilla extract. Heat over low heat until warm, but do not boil.
Meanwhile, in a separate bowl, whisk the egg yolks. Slowly add a ladleful of the warm milk mixture to the egg yolks, whisking constantly to temper the eggs.
Pour the egg yolk mixture back into the saucepan and cook over low heat, stirring constantly, until the custard thickens and coats the back of a spoon. This should take about 5-7 minutes.
Strain the custard through a fine-mesh sieve, then let it cool to room temperature before refrigerating for at least 4 hours (or overnight).
Pour the chilled custard into an ice cream maker and churn according to the manufacturer's instructions.
When the ice cream is almost done churning, stir in the chopped dark chocolate. For an authentic Baskin-Robbins effect, drizzle in thin layers of melted chocolate, which will harden and create delicious chocolate flakes.
Transfer the ice cream to an airtight container and freeze for at least 2 hours to allow it to firm up.
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