Put one cup of the half and half in a saucepan over medium heat and stir in the espresso, cocoa powder, and sugar. Heat and stir just until everything gets dissolved.
Remove from heat and let cool. Add remaining half and half and vanilla and refrigerate until cold.
Pour the mixture into your ice cream machine and process according to its instructions.
Spoon the soft ice cream into a container and freeze until scoop-able: at least several hours.
Homemade ice cream is best eaten the day it is made.
Nutritional information is provided as a courtesy and is an estimate only. This information comes from online calculators. Although The View from Great Island attempts to provide accurate nutritional information, these figures are only estimates.
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