In a medium saucepan, whisk together sweetened condensed milk, cream, and whole milk over medium heat. Whisking often, bring mixture to a boil over medium heat. Remove from heat.

Immediately, stir in chocolate and cocoa powder and whisk until very smooth. In a small bowl, whisk together cornstarch and water, then pour into chocolate mixture.

Return saucepan to medium heat and bring to a simmer, stirring almost constantly, until mixture has thickened, about 5 minutes. Remove from heat and stir in vanilla, almond extract, and salt.

Pour mixture into a glass or metal bowl. Let cool about 5 minutes before covering with plastic wrap. Chill in the refrigerator until completely cooled, several hours or overnight. Mixture will be very thick.

To freeze, transfer chilled chocolate mixture into an airtight container. Press plastic wrap onto the surface, then seal with a lid. Freeze several hours until firm enough to scoop (this should only take about 2 hours, but you can do it up to a day before serving).

Remove from freezer 5-10 minutes before scooping. A little goes a long way!