In a medium saucepan, combine the milk, heavy cream, sugar, salt, and vanilla extract. Heat over low heat, being careful not to bring to a boil.
In a separate bowl, whisk the egg yolks. While continuously whisking, slowly add a ladleful of the warm milk mixture to temper the eggs.
Pour the egg mixture back into the saucepan and cook over low heat, stirring constantly, until the custard thickens enough to coat the back of a spoon. This will take about 5-7 minutes.
Strain the mixture through a fine-mesh sieve, then let it cool to room temperature before refrigerating for at least 4 hours, or preferably overnight.
Divide the chilled custard into two equal portions. Leave one portion as vanilla base, and to the other, add the cocoa powder and melted dark chocolate to create a chocolate base.
Pour the two different bases into an ice cream maker separately, and churn according to the manufacturer's instructions.
Layer the finished vanilla and chocolate ice cream into an airtight container, drizzling caramel sauce in between layers to create a marbled effect.
Place the ice cream in the freezer for at least 2 hours to allow it to firm up properly.
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