Finely grate the tonka bean using a microplane or fine grater and set aside.
In a medium saucepan, combine the milk, heavy cream, sugar, cocoa powder, and a pinch of salt. Heat over low heat, stirring constantly, until the sugar is completely dissolved.
Add the finely chopped dark chocolate and stir until completely melted and smooth.
Stir in the grated tonka bean and vanilla extract. Let it sit for a few minutes to allow the flavors to infuse.
In a separate bowl, whisk the egg yolks. Gradually whisk in a small amount of the hot chocolate mixture to temper the eggs.
Pour the tempered egg mixture back into the saucepan. Cook over low heat, stirring constantly, until the mixture thickens slightly (about 5 minutes).
Remove from the heat and let it cool completely.
Pour the cooled ice cream base into an ice cream maker and churn 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. Every 30 minutes, stir the mixture to prevent ice crystals from forming.
Once the ice cream is fully solidified (after about 4-5 hours of freezing), serve garnished with grated chocolate and extra tonka bean.
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