In a small saucepan whisk together the milk, cream, and cocoa powder until it is a smooth paste.

Place over medium-high heat and bring cocoa mixture and to scalding point (the milk begins to foam up).

Remove from heat, add chopped chocolate and stir until the chocolate has completely melted and is smooth.

Meanwhile in another bowl beat egg yolks and sugar until light and fluffy.

Gradually pour scalding cocoa mixture into whipped egg yolk mixture, making sure you keep whisking constantly so the eggs don't curdle.

If any lumps do form, strain mixture first before heating.

Place the bowl over a saucepan of simmering water and, stirring constantly with a wooden spoon, cook until the custard thickens enough that it coats the back of a spoon.

Immediately remove the custard from the heat and continue to stir the custard for a few minutes so it does not overcook.

At this point stir in the vanilla extract. Cover and let cool to room temperature and then refrigerate the custard until it is completely cold for several hours or preferably overnight.

Transfer the cold custard to the container of your ice cream machine and process according to the manufacturer's instructions.

10 minutes before the machine is done churning add in the chopped up Reese’s cups so it mixes in well.

Once made, transfer the ice cream to a chilled container and store in the freezer.