In a medium saucepan, combine the milk, heavy cream, and sugar. Heat over low heat, stirring until the sugar is completely dissolved.
In a separate bowl, whisk the egg yolks. Gradually add a small amount of the hot milk mixture to the yolks to temper them.
Pour the tempered egg yolk mixture back into the saucepan and cook over low heat, stirring constantly, until the mixture thickens slightly (about 5 minutes).
Remove from heat, stir in the vanilla extract and a pinch of salt, and let it cool completely.
Pour the mixture into an ice cream maker and process according to the manufacturer's instructions until creamy.
If you don't have an ice cream maker, pour the mixture into a shallow container and place it in the freezer. Stir every 30 minutes to prevent ice crystals from forming.
Once the ice cream is completely frozen (after about 4-5 hours of freezing), prepare the chocolate coating.
Melt the dark chocolate over a double boiler, then stir in the coconut oil until smooth and fluid.
Dip the mini ice cream scoops into the chocolate, then place them on a baking sheet lined with parchment paper and return them to the freezer for 10 minutes to allow the coating to harden.
Before serving, let them sit at room temperature for a few minutes so the chocolate isn't too hard.
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