Step 1
Place dark chocolate cocoa powder and salt in top of a double boiler over simmering water. Stir frequently scraping down the sides with a rubber spatula to avoid scorching until chocolate is melted and smooth about 5 minutes. Remove from heat.
Step 2
Mix sugar and milk powder together in a small bowl.
Step 3
Place 1 3/4 cups milk and cream in a medium saucepan over medium-high heat. Cook whisking occasionally until mixture comes to a full rolling boil. Whisk the sugar mixture into the pot. Reduce heat to low and simmer for 2 minutes whisking to prevent scorching. Remove from heat.
Step 4
Mix 2 tablespoons milk and tapioca together into a small bowl. Whisk into the hot dairy mixture.
Step 5
Whisk 1/3 of the dairy mixture into the bowl of melted chocolate. Repeat twice more whisking well until smooth. Let cool to room temperature about 15 minutes.
Step 6
Strain mixture into a bowl and refrigerate for 4 hours or preferably overnight. Make caramelized almonds and toasted marshmallows before churning the ice cream.
Step 7
Preheat the oven to 350 degrees F (175 degrees C). Line 2 baking sheets with silicone baking mats.
Step 8
Toast almonds in a dry skillet over medium heat until fragrant 3 to 5 minutes. Transfer to a bowl. Combine butter white sugar brown sugar milk and salt in the skillet. Stir until melted together and smooth. Bring to a boil; cook for 2 minutes. Stir in almonds until coated. Pour onto a baking sheet.
Step 9
Bake in the preheated oven until bubbling 7 to 8 minutes. Let cool completely before breaking up into uneven pieces.
Step 9
While almonds are cooling spread marshmallows out on the second baking sheet.