In Vitamix or any blender of your choice, add sugar, milk, a pinch of salt and cacao (or cocoa) powder and blend on medium speed until all sugar dissolves
In a bowl, add the above mixture and gently mix the heavy cream.
Chill the mixture for about 2 hours in the refrigerator.
Pour the mixture in the ice cream maker container and churn for about 35-40 minutes
Ice cream is now ready with soft serve consistency. Transfer to an air tight container and freeze for about 6 hours before serving