1. Combine sugar and cocoa in small bowl.
2. In saucepan over medium heat, warm cream and milk.
3. When cream and milk mixture is warm, whisk in sugar and cocoa mixture and vanilla.  Whisk until sugar is dissolved and mixture is well combined.
4. Chill in refrigerator overnight.
5. When ready to make ice cream, start ice cream maker and pour mixture through hole in lid.
6. Churn for 20-40 minutes or until desired consistency.

Variations: Add 1/2 cup mix-ins, such as chocolate chips or chopped nuts,
after ice cream has churned for at least 15 minutes or when mixture is thick and has started to freeze.