Chocolate Ice Cream (soft Serve Style)

One of the best purchases I've made recently was a Cuisinart Ice Cream freezer. Last night we decided to give the chocolate flavor recipe that was included with the freezer a try. This is a perfect soft serve version, but the cocoa gave it a deep chocolate flavor. We loved it and dinner guests gave it two thumbs up!
1 cup unsweetened cocoa powder (Dutch process preferred)2/3 cup granulated sugar1/2 cup firmly packed brown sugar1 ½ cups whole milk31/4 cups heavy cream1 T. pure vanilla extract
Place the cocoa and sugars in a medium bowl; stir to combine.
Add the whole milk and use a hand mixer on low speed or whisk to combine until the cocoa and sugars are dissolved, about 1 to 2 minutes. Stir in the heavy cream and vanilla.
If not freezing immediately, cover and refrigerate until ready to use.
Turn machine on; pour mixture into freezer bowl, and let mix until thickened, about 25 to 35 minutes. The ice cream will have a soft, creamy texture. If a firmer consistency is desired, transfer the ice cream to an airtight container and place in freezer for about 2 hours. Remove from freezer about 15 minutes before serving.