Triple Chocolate Ice Cream

1 1/3 c sugar (I used Splenda)
1/3 c unsweetened cocoa
2 1/2 c 2% milk, divided
3 large egg yolks
1/2 c half-and-half (I used fat-free)
2 1/2 oz. bittersweet chocolate, chopped coarsely
3 t espresso powder dissolved in 2 T hot water
1/3 c semi-sweet chocolate chips, finely crushed

Combine sugar and cocoa in a medium, heavy saucepan over medium-low heat. Stir in 1/2 c milk and egg yolks. Stir in remaining 2 cups milk. Cook 12 minutes or until a thermometer registers 160˚, stirring constantly. Remove from heat.
Place half and half in a microwave-safe dish, microwave at HIGH 1 1/2 minutes or until half-and-half boils. Add chocolate to half-and-half; stir until smooth. Stir in espresso mixture. Add half-and-half mixture to pan; stir until smooth. Place pan in an ice-filled bowl. Cool completely, stirring occasionally. Freeze according to manufacturer's directions. Freeze in freezer additional 1 hour before serving.

This ice cream hardened considerably once it was in the freezer, and I think it was because of the Splenda. But the rich chocolate flavor really hid the Splenda flavor, making this a pretty good low-sugar dessert.