How to Make It
Combine milk and cocoa powder in a medium saucepan over medium, whisking continuously to combine. Bring mixture to a summer, stirring often. Remove from heat, and whisk in vanilla bean paste. Let stand 5 minutes.
To a large mixing bowl, add the egg yolks and 1/4 cup of the sugar; whisk vigorously to combine. Add remaining sugar in 1/4 cup increments, whisking continuously, until mixture is smooth.
Slowly pour milk mixture into yolk mixture, whisking continuously to combine. Add xanthan gum and whisk continuously for 30 seconds to agitate. Cover bowl tightly and refrigerate for 6 to 8 hours.
Pour mixture into pre-chilled container of ice cream maker. Set timer to 30 minutes, or per manufacturer’s recommendations.
Consume ice cream immediately as soft-serve, or place in a freezer-safe container and chill overnight to harden.