In a large bowl, whisk together whole milk, whipping cream, and granulated sugar.

Add the cocoa powder and whisk until fully dissolved. Whisk in vanilla extract and vodka, if using.

Cover and refrigerate at least 12 hours, or overnight.

Whisk chilled base briskly to recombine. Pour into ice cream maker, with bowl frozen according to manufacturer’s instructions. Churn until thick and creamy, about 15 minutes, or until consistency resembles soft serve ice cream.

With ice cream maker still churning, add chopped dark chocolate, chopped roasted and salted almonds, and mini marshmallows, and churn until fully incorporated.

Scoop ice cream into a freezer-safe container. Freeze 2-4 hours, or until ice cream reaches scoopable consistency.

Store homemade rocky road ice cream in the freezer for up to 1 month. Allow to stand at room temperature for 10-15 minutes prior to serving.