WHISK yolks in medium bowl; add 1/4 cup sugar and whisk to blend. Set aside.
COMBINE baking cocoa and remaining 1/4 cup sugar in medium saucepan. Whisk in about ¼ cup of milk to make a paste, adding more milk as needed to make it smooth. Whisk in the remaining milk, Coffee-mate natural bliss Creamer and salt. Heat over medium-high heat. When mixture begins to bubble around the edges, reduce the heat to medium. Carefully scoop out about ½ cup of hot cream mixture and add to egg yolk mixture, whisking constantly. Whisk in another ½ cup hot cream mixture. Stir the cream in the saucepan as you pour the egg-cream mixture back into the saucepan. Cook over medium heat for 1 to 2 minutes, stirring constantly, until it has thickened (it should coat the back of a spoon).
TRANSFER mixture to a clean container. Set the container into an ice-water bath. Stir occasionally as the mixture cools. Remove the container from the ice-water bath; cover. Refrigerate for 2 hours or overnight.
FREEZE in your ice cream machine according to manufacturer’s directions. Enjoy right away, or transfer to a chilled covered container and freeze.