In a large metal bowl, whisk the cocoa, brown sugar and white sugar removing any clumps.
While whisking, add in the milk, heavy cream and extract.
Whisk until well combined.
Pour into your prepared ice cream maker and process according to the manufacture’s directions
Now you can eat this in about 20-30 minutes (however long your machine takes) but if you want it scoopable, I’d freeze it for at least an hour. I did 2 hours and it was firm enough to scoop.