Because of the gelatin and the lack of sugar and fat, this ice cream freezes hard. Let it sit out at room temperature a few minutes to soften before you spoon it into dishes.
2 envelopes unflavored gelatin
4 cups evaporated fat-free milk, divided
3/4 cup egg substitute
1 tablespoon vanilla extract
1/3 cup unsweetened cocoa
24 packets (or 7 1/4 teaspoons) calorie-free sweetener with aspartame (such as Equal)
1 (2.8-ounce) sugar-free milk chocolate bar, chopped
How to Make It
Sprinkle gelatin over 2 cups evaporated milk in a medium saucepan; let stand 5 minutes.
Cook over medium heat until gelatin dissolves and mixture just comes to a boil. Gradually stir about 1 cup of hot milk mixture into egg substitute; add to remaining hot milk mixture, stirring constantly. Cook, stirring constantly, 2 minutes (do not boil). Remove from heat. Stir in 2 cups milk and vanilla.
Combine cocoa and sweetener in a large bowl. Gradually add hot milk mixture, stirring until smooth. Stir in chopped candy. Chill approximately 30 minutes or just until cold, stirring occasionally (do not overchill).
Pour chocolate mixture into the freezer can of a 4-quart ice-cream freezer; freeze according to manufacturer's instructions. Spoon ice cream into a freezer-safe container; cover and freeze 1 hour or until firm.