In a large saucepan, combine the oat milk, sugar, cocoa powder, and salt in a saucepan. Whisk to combine and then heat over medium heat, stirring continually, until it comes together and begins to steam and simmer. If you wish, you may increase the heat, but continue stirring non-stop. Do not step away at this point.
Stir in the chocolate chips and vanilla. Continue stirring or whisking, until the chocolate is fully incorporated into the mixture. Remove from the heat, cool, and refrigerate for at least 4 hours or overnight until completely cold.
Process according to your machine’s instructions. Serve immediately for soft serve ice cream or transfer to a freezer safe storage container and freeze until ready to serve.
When ready to serve, allow this ice cream to warm at room temperature for 10-20 minutes before scooping.