In a medium bowl, combine 14 oz sweetened condensed milk , 1/3 cup dark chocolate cocoa powder , and a 1/4 teaspoon salt. Whisk thoroughly until smooth and lump-free.
Gradually stir in 1 cup heavy cream , 2 cups whole milk and 1 tablespoon vanilla extract . Mix until fully combined and the chocolate is evenly distributed throughout the base.
Pour the ice cream base into a Ninja Creami pint container. Secure the lid and freeze for at least 24 hours, ensuring it is completely solid before processing.
Remove the frozen pint and insert it into the Ninja Creami. Select the “Ice Cream” function and process until smooth, creamy, and scoopable.
If desired, create a small well in the center and add 1/2 cup dark chocolate chips or fudge chunks. Use the “Mix-In” function to fold them evenly throughout the ice cream.
Enjoy immediately for a soft-serve texture, or freeze for an additional 10–15 minutes for firmer ice cream. Serve in bowls, cones, or with your favorite toppings.