In a bowl add condensed milk, cocoa powder, vanilla extract and instant cocoa powder. Mix everything well till you don't see any lumps
In a separate wide mixing bowl add Whipping Cream, whisk it with a electric mixer for 4- 5 mins till you see firm peaks
Add condensed milk - cocoa powder mixture to the heavy cream, and whisk till everything is blended well together
Put it in freezer safe box and Freeze it for overnight or atleast 7-8 hours
Before serving take the ice cream out and let it sit for 5 minutes; scoop and enjoy with your favorite topping