Whisk the sugar, egg yolks, cocoa powder and glucose syrup until fluffy.
Bring the milk and cream to the boil. Stirring slowly, fold the egg mixture into the milk and cream and continue heating to 85 °C.
Remove from the heat and add the chopped chocolate. Stir until it has melted.
Cool the mixture in a cold water bath and leave to stand for at least 1 hour (preferably overnight) in the refrigerator.
Spread the mixture in ice cream moulds and freeze for at least 3 hours.
Dip in chocolate and hundreds and thousands if preferred.