Place a fine mesh sieve over a large bowl and set aside.

Combine the egg yolks and salt in a medium bowl and whisk to blend.

Combine the milk, cream, allulose, and cocoa powder in a medium saucepan over medium heat. Cook, stirring, until the mixture is steaming and just barely simmering. Turn the heat off.

While whisking constantly, gradually add about 1 cup of the hot mixture to the egg yolks.

Pour the egg yolk mixture back into the saucepan and place over medium heat. Cook while whisking until the mixture reaches about 180 F. It should coat a spoon.

Whisk in the vanilla and pour the hot mixture through the sieve into the large bowl.

Cover the bowl and let it cool to room temperature. For faster cooling, put the bowl in a larger container of ice water and stir the mixture frequently.

Refrigerate the cooled chocolate custard mixture for about 1 to 2 hours, until chilled.

Churn in your ice cream maker following the manufacturer's instructions.

Transfer the soft churned mixture to a freezer container and freeze for a few hours, or until firm.