Whisk together the sugar, cream, milk, cocoa, cinnamon, salt, and orange zest in a medium size saucepan. Bring to a boil and then reduce to a simmer while stirring occasionally for 2 minutes. Add the chocolate chips and continue stirring while the chocolate melts. Remove from the heat and stir in the orange juice and vanilla extract. Let cool and then chill in the refrigerator for at least 4 hours. Pour the chilled mixture into your ice cream machine and process according to the manufacturer's directions. Enjoy!
Notes
Special dark cocoa is my preference for this recipe. However, you can use a standard dutch cocoa or plain cocoa powder as well. (The color will not be as dark without the special dark cocoa.) I've made this both with and without orange zest, as well as with store-bought juice. The zest makes a big difference in the results. Fresh and store bought orange juices both work well. The fresh is a milder flavor with a little more sweetness to it. The store-bought orange juice was just enough stronger than fresh that I preferred it in the end.