Sift the cocoa powder into a small bowl to remove any lumps, then set aside.

Pour the whole milk into a small saucepan and heat over medium heat until it just begins to simmer at the edges; do not let it boil.

Reduce the heat to low and whisk in the Splenda and sifted cocoa powder, whisking vigorously until the mixture is smooth and no dry cocoa remains.

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 ice cream base to a bowl, cover, and chill in the refrigerator for at least 2 hours or until thoroughly cold.

When ready to churn, place the frozen freezer bowl in your ice cream maker, insert the paddle, and attach the lid according to the manufacturer’s instructions.

Turn on the ice cream maker, then give the chilled base a quick whisk and slowly pour it into the running machine.

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

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

Cover the container and freeze for 20 to 30 minutes for a firmer, scoopable ice cream before serving.

Store any leftover ice cream covered in the freezer, and let it sit at room temperature for a few minutes to soften slightly before scooping.