Place all the ingredients in a blender and blend until smooth.
Chill the ice cream base in the refrigerator for a 2 hours before freezing.
Freeze the ice cream according to the manufacturer's instructions for your machine.
The easiest way to tell if the ice cream is done, is when it stands up on a spoon instead of sliding right off.
After the ice cream's done, remove it from the machine and serve immediately or freeze for a harder texture.
The fudge sauce is optional, but I highly recommend adding it.
Using a flat bottom whisk, whisk together the maple syrup and cocoa powder until smooth. I like to store my fudge sauce in a squeeze bottle in the refrigerator. It will keep for at least 1 month.
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Notes
Freezing the ice cream usually takes about 20 minutes.