Sift the unsweetened cocoa powder into a small bowl and set aside.

Add the whole milk to a small saucepan and heat over medium heat until it just begins to simmer around the edges, without boiling.

Reduce the heat to low and whisk in the Splenda and sifted cocoa powder, whisking vigorously until the mixture is smooth and lump-free.

Remove the saucepan from the heat and whisk in the Walden Farms chocolate syrup until fully combined.

Whisk in the heavy cream and vanilla bean paste until the mixture is smooth and uniform.

Transfer the chocolate mixture to a bowl, cover, and chill in the refrigerator for at least 2 hours or overnight until thoroughly cold.

Place the freezer bowl of your ice cream maker in the machine according to the manufacturer’s instructions.

Insert the churn paddle, secure the lid, and turn the machine on.

Give the chilled chocolate mixture a quick whisk, then slowly pour it into the running ice cream maker.

Churn for about 30 minutes, or until the ice cream reaches the consistency of thick soft-serve.

Serve immediately for soft-serve texture, or transfer the ice cream to a freezer-safe container.

Smooth the top, cover tightly, and freeze for 20 to 30 minutes for a firmer, scoopable ice cream before serving.