In a large pan, whisk together the sugar and cocoa. Add the eggs and evaporated milk and whisk till smooth. Heat over medium heat till thick and bubbly, stirring constantly.
As soon as mixture barely starts to boil, remove the pan from the heat and place in a sink filled with ice water. Stir till chilled.
Add cream, sweetened condensed milk, vanilla, pudding mix, and milk. Whisk till pudding is dissolved and mixture is smooth. Pour through a fine meshed strainer to remove any lumps.
Cover and chill in refrigerator for several hours or overnight. Freeze in an ice cream freezer according to manufacturer’s instructions.
Stir in almonds and marshmallows. Pour into an airtight container and freeze for 2-3 hours.
Notes
-This recipe makes over two quarts, it made three batches in my Cuisinart.