In small sauce pan, mix cocoa, coffee, sugar. Over medium heat, slowly stir in 1 cup milk. Keep stirring until just comes to a boil. Remove from heat and let cool. Pour through strainer into bowl. Stir in remaining cup of milk, the cream, syrup and vanilla. Chill.
Freeze in ice cream maker. Transfer to a container with a tight fitting lid. If you like your road rocky fold in optional ingredients. Ripen in freezer several hours.