Pour sweetened condensed milk/caramel in a bowl and sift in the unsweetened cocoa powder. Stir until combined. 

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Separately whip 1 cup of whipping cream until stiff.

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Then, pour the cocoa-milk mixture into whipped cream all at once and fold until combined. Be careful not to break the whipped cream. 

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Transfer the batter into a container and cover with plastic wrap. Freeze for at least 6 hours or overnight until completely frozen and enjoy!