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Combine the cocoa powder, white sugar and brown sugar until thoroughly mixed.
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Add in the heavy whipping cream, half and half and vanilla. Whisk together until sugar dissolves.
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Pour the mixture into your ice cream maker and churn for 30 minutes or until it reaches your desired consistency.
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In the last 2-3 minutes, add in the marshmallows, sliced almonds, cocoa almonds and chopped dark chocolate.
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Pour mixture into freezer safe container and freeze for at least 2 hours before serving.