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Blend milk, sugar, dry milk, malted-milk powder and chocolate in a blender until fairly smooth. Pour into a large saucepan and bring to a simmer over medium heat, whisking almost constantly. Remove from the heat.
Pour egg whites into a large bowl and whisk in the milk mixture in a slow, steady stream until smooth. Whisk in vanilla and salt. Refrigerate until cool, at least 3 hours or overnight.
Freeze the ice cream mixture in an ice cream maker, according to the manufacturer’s directions. If using the ice cream for sandwiches, freeze until it’s firm enough to hold a scoop shape.