In a large saucepan, combine half the milk with egg yolks and sugar. Cook over very low heat until mixture sticks to the metal utensil, whisking continually. Add the chocolate, stirring until melted. Remove from heat; gradually mix in the remaining milk
and vanilla extract. Cover; chill overnight or place the saucepan in an ice bath until completely chilled. Freeze in a 5-quart ice cream maker according to manufacturer's directions.

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