Freeze the bowl of your ice cream maker for at least 24 hours.
In a bowl, whisk together the sugar, premium cocoa powder, and sea salt.
Gradually whisk in the whole milk until the sugar is dissolved and the mixture is smooth.
Stir in the heavy whipping cream and vanilla extract. Cover and chill in the refrigerator for at least 2 hours.
Pour the chilled base into your ice cream maker and churn for 20-25 minutes until it resembles soft serve.
Transfer to an airtight container, press parchment paper onto the surface, and freeze for at least 4 hours before serving.