This recipe requires an ice cream maker.
In a small bowl, whisk egg yolks and sugar together. In a saucepan over medium heat, slowly heat milk to boiling point, stirring occasionally. While whisking, slowly pour egg mixture into milk and thoroughly mix together. Turn heat to low and stir constantly until the mixture thickens and forms a thick film on the back of a wooden spoon. Do not let it boil or the mixture will separate. Remove pan from heat and let cool to room temperature. When cool, transfer mixture to a bowl. Add cocoa and mix in thoroughly. Finally, mix in extracts and cream. Refrigerate until cold, 1-2 hours.
To complete, follow the instructions for your ice cream maker.