In a medium saucepan, heat the milk and heavy cream over medium heat until it almost reaches a simmer. Do not let it boil!
Meanwhile, in a separate bowl, whisk the egg yolks and sugar together until light and creamy.
Gradually, while constantly whisking, add a small amount of the warm milk mixture to the egg yolk mixture to temper the eggs and prevent them from curdling.
Pour the entire mixture back into the saucepan and cook over low heat, stirring constantly, until it thickens. It's ready when it coats the back of a wooden spoon.
Remove from heat and stir in the vanilla extract and a pinch of salt. Let it cool completely.
Once cooled, pour the mixture into an ice cream maker and churn according to the manufacturer's instructions.
When the ice cream is almost done, add the chopped dark chocolate and let the machine churn for a few more minutes to distribute it evenly.
Transfer the finished ice cream to an airtight container and freeze for at least 3 hours to achieve the desired consistency.
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