Melt the milk chocolate and dark chocolate separately either in the microwave or bain-marie. Melt until smooth. Remove from the heat and let cool approximately 10-15 minutes, coat the chocolate molds swirling it around (I used a pastry brush to fill in the empty spots), you may need to make a 2nd layer of chocolate to cover completely. Place a wire rack on a baking sheet and flip the mold on top of the wire rack to empty out the excess chocolate, then place the mold in the freezer for approximately 10-15 minutes. Meanwhile make the ice cream filling.
FOR THE ICE CREAM FILLING
In a small bowl whisk together the sweetened condensed milk and vanilla, set aside.
Beat the cream until stiff peaks form, add a little whipped cream to the vanilla/sweetened condensed milk mixture to make it easier to combine, then fold in the rest of the whipped cream mixture.
PUTTING IT TOGETHER
Remove molds from freezer, fill with the ice cream filling (be sure not to over fill, just below the border), refreeze for approximately 30 minutes, while the ice cream is in the freezer re-heat the chocolate if it has hardened. Remove the chocolate from the freezer and cover with the melted chocolate, carefully remove excess chocolate with a spatula and freeze for again for 5 hours or even overnight until completely frozen and firm.
Remove chocolates carefully from mold, decorate with left over chocolate, fudge sauce or caramel sauce, sprinkle with chopped nuts or whatever you desire. Serve immediately. Enjoy!
Notes
I made smaller bite size truffles but you could make bigger ones to make for dessert.I found that dark chocolate is easier to work with and is smoother than milk chocolate.If you have left over ice cream filling just freeze in a container and enjoy.To melt chocolate, start by chopping it into small, evenly-sized pieces. Then, choose your preferred method either stovetop / bain-marie or microwave.For the stovetop method, fill a saucepan with a small amount of water and place it over medium heat. Set a heatproof bowl on top of the saucepan, ensuring it fits snugly, and add the chopped chocolate to the bowl. Stir the chocolate constantly as it melts, and remove it from the heat source as soon as it’s almost all melted, this allows for the heat to finish melting the chocolate.For the microwave method, place the chopped chocolate in a microwave-safe bowl and heat it on low power or in short intervals, stirring well after each interval. Be careful not to overheat the chocolate, as it has a tendency to burn/scorch easily.Low and slow is best when heating and melting chocolate. Whether you choose the stovetop or microwave method, you have to be patient, remember to stir consistently, and avoid getting any water or steam in the chocolate or the chocolate will seize and you will need to start over.Make sure you freeze your chocolate molds filled with ice cream for at least 5 hours before serving so that the chocolate has time to harden. After you have removed the ice cream truffles from the molds, serve immediately before they melt. Freeze: After removing the truffles from the chocolate molds, store in freezer safe bags or a large freezer container for up to two weeks.