Create a Chocolate Cream Base: In a medium saucepan, pour 1 cup of heavy cream and whisk in the cocoa powder until completely dissolved. Place over medium heat and bring just to a gentle boil. Lower the heat to a soft simmer, whisking continuously for about 30 seconds to ensure a rich chocolate flavor develops. Remove from the heat, add the chopped bittersweet chocolate, and stir until smooth and glossy. Mix in the remaining 1 cup of cream, then transfer this mixture to a large heatproof bowl. Place a fine mesh sieve over the bowl for later use.
Prepare a Sweet Milk Mixture: Using the same saucepan, combine milk, sugar, and a pinch of salt, warming the mixture over medium heat until the sugar dissolves completely. Meanwhile, whisk egg yolks in a separate bowl until smooth and slightly pale.
Temper the Eggs for Custard: Slowly drizzle the warm milk mixture into the beaten yolks while whisking constantly to prevent scrambling. Once combined, return the mixture to the saucepan. Cook over medium heat, stirring constantly with a heatproof spatula, until it thickens slightly and reaches 170–175°F (77–80°C) on an instant-read thermometer.
Combine and Chill the Base: Strain the custard through the fine mesh sieve into the chocolate cream mixture. Stir well until everything is blended and silky. Add vanilla extract and mix to combine. Cover the bowl with plastic wrap and refrigerate for at least 2 hours (or overnight) until completely chilled.
Churn the Ice Cream: Once the base is fully cooled, pour it into your ice cream maker and churn according to the manufacturer’s instructions until it reaches a soft-serve consistency.
Add the Rocky Road Mix-Ins: Transfer the churned ice cream into a large mixing bowl. Gently fold in the marshmallows, chopped honey-roasted almonds, dark chocolate chunks, white chocolate chunks, and caramel pieces, making sure they are evenly distributed.
Freeze and Serve: Spoon the ice cream into an airtight container, smooth the top, and freeze for at least 4 hours or until firm enough to scoop. Allow the ice cream to sit at room temperature for a few minutes before serving for easier scooping.
