In a large bowl, stir together the sweetened condensed milk, cocoa powder, and vanilla extract until smooth and well combined.
Pour the cold heavy whipping cream into a separate large bowl. Beat with a stand mixer or hand mixer for 2–3 minutes, or until stiff peaks form.
Gently fold the whipped cream into the chocolate mixture until evenly combined. Be careful not to overmix.
Spread the mixture evenly into a 9-inch loaf pan. Cover with foil and freeze for at least 6 hours, or until firm.
Scoop and serve.
Video
Notes
For the best texture, keep the heavy whipping cream cold until ready to whip.Serve with your favorite toppings, such as chocolate chips, whipped cream, or crushed candy.