In a mixing bowl add the sweetened condensed milk, vanilla and half and half. Blend together with a whisk until combined.
Add the cocoa powder and hot cocoa mix to the milk mixture and mix again until there are no clumps.
In another separate bowl, add the heavy cream. Use a hand mixer to whip this together until peaks are formed.
Add the whipped heavy cream to the chocolate mixture and fold the two mixtures together.
Add the marshmallows, folding together again. Transfer to a loaf pan. Top with more marshmallows and chocolate chips if desired.
Freeze for 6 hours or overnight until firm. Scoop the creamy ice cream to serve and enjoy!
Notes
Add ins: Coconut, chocolate chip cookies, nuts, chocolate chunks, or chopped up candy. Mint chocolate chips or even fresh fruit. Top with chocolate sauce and whip cream.
Hot Chocolate: Make a white hot chocolate or peppermint hot chocolate.
HomemadeVanilla Ice Cream Recipe: Use white hot chocolate and vanilla extract for a vanilla version.
Low Sugar: Feel free to use low sugar hot chocolate in the ice cream.
Fat Free: Fat free is not recommended for this no churn ice cream as ice cream needs a certain percentage of fat to be considered ice cream. You can use whole milk to make an ice milk.