In a medium saucepan, combine the milk, heavy cream, sugar, cocoa powder, salt, and vanilla extract. Heat over low heat, stirring constantly, until the sugar is dissolved and the mixture is warm, but do not boil.
Meanwhile, in a separate bowl, whisk the egg yolks. Gradually whisk in a ladleful of the warm milk mixture to temper the eggs, preventing them from curdling.
Pour the egg yolk mixture back into the saucepan. Cook over low heat, stirring constantly, until the custard thickens enough to coat the back of a spoon. This will take approximately 5-7 minutes.
Strain the mixture through a fine-mesh sieve into a clean bowl. Let it cool to room temperature, then refrigerate for at least 4 hours, or preferably overnight.
Pour the chilled custard into an ice cream maker and churn according to the manufacturer's instructions.
When the ice cream is almost finished churning, stir in the chopped dark chocolate chunks for added texture and richness.
Spoon the ice cream into the waffle cones, place them on a tray, and freeze for 30 minutes to firm up.
Melt the chocolate magic shell according to package directions. Dip the top of each ice cream cone into the melted chocolate, then immediately sprinkle with ground hazelnuts for a crunchy topping.
Return the cones to the freezer for another 30 minutes to allow the chocolate magic shell to harden completely.
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