Start by whisking your egg yolks in a medium-sized bowl. This step can be a little therapeutic! Whisk until they become smooth and slightly pale. Next, combine the sugar and cocoa powder in a saucepan. Gradually whisk in the milk and heavy cream until everything is well mixed. Heat this over medium heat and stir consistently, bringing it just to a simmer.

Once your cream mixture is warm, it’s time to temper the egg yolks. Slowly pour about half of the cream into your egg yolks while whisking continuously. This prevents the yolks from cooking too quickly. Once combined, pour the yolk mixture back into the saucepan with the remaining cream. Stir constantly until the mixture coats the back of a spoon.

Remove from heat and mix in the espresso powder, sea salt, and vanilla extract. Now, let’s cool this mixture down. Transfer it to a bowl and cover it. Place it into the refrigerator for at least two hours, or until it is completely chilled.

When your base is nicely chilled, pour it into your ice cream maker. Follow the manufacturer's instructions and churn until it reaches a soft-serve consistency, which usually takes about 20-25 minutes.

As the ice cream churns, gently toast your mini marshmallows. You can do this over a campfire (if you happen to have one handy!) or broil them in your oven until they’re just golden. Once done, mix these toasted marshmallows and crushed graham crackers into your churning ice cream, distributing them evenly.

Transfer the ice cream to an airtight container and freeze it for at least four hours to firm up. When you’re ready, scoop and savor!