Place the canister of an ice cream in the freezer overnight.
Pour the milk into a small pot and place over medium heat.
Combine the egg yolks, sugar, cocoa, and salt in a large mixing bowl.
When the milk is hot and there are small bubbles forming around the edges, begin adding a little at a time to the yolk mixture, while stirring.
Add in the melted chocolate, pour the mixture back into the pot, and cook over medium heat, stirring, until thickened.
Strain the custard into a heat safe bowl, stir in the heavy cream and vanilla, and refrigerate overnight.
Line a baking sheet with parchment and arrange half the graham crackers on top.
Churn the ice cream mixture in the prepared bowl for 15-30 minutes, or until it’s the consistency of soft-serve. Layer it in the prepared pan (over the graham crackers), and freeze solid.