In a small saucepan add chocolate and milk. Gradually whisk in the milk and heat, stirring constantly, until smooth. Remove from the heat and let cool.
Whisk the eggs in a mixing bowl until light and fluffy, 1-2 minutes.
Whisk in the sugar into the eggs, a little at a time, then continue whisking until completely blended, about 1 minute more.
Add the cream, vanilla and salt and whisk to blend to the mixing bowl. Pour the chocolate mixture into the cream mixture and blend. Cover and refrigerate until cold, about 1-3 hours, depending on your refrigerator.
Transfer the mixture to an ice cream maker and freeze following the manufacturer's instructions.
VARIATION: Chocolate Almond- Add 1 cup roasted whole almonds (salted or unsalted) after the ice cream stiffens, about 2 minutes before it is done, then continue to freeze until the ice cream is ready.