Stir all ingredients together in a bowl until well mixed. If you have an ice cream maker (I have this one!), transfer the mixture to your ice cream maker and churn according to manufacturer’s directions for your machine. If you don’t have an ice cream maker, you can freeze the mixture in ice cube trays, then blend the frozen ice cubes in a high-speed blender such as a Vitamix or a food processor. Eat the ice cream straight from the blender or freeze a few hours for a firmer texture. Don’t forget to drizzle some chocolate sauce on top!