Pour the heavy whipping cream and low carb sugar substitute into a saucepan and set it over medium high heat until it reaches a boil, then lower the heat to a simmer. The mixture should look fully fluid at first, then start to steam steadily once it is hot enough.
Whisk in the unsweetened cocoa powder while the cream simmers until the powder is well blended and most of the small lumps are gone. The base should turn evenly chocolate brown and look smoother as the cocoa hydrates.
In a separate bowl, whisk together the 2 large yolks and vanilla extract while the chocolate cream continues to cook. The yolks should look glossy and loose, which helps them blend more easily into the warm base.
Keep stirring the chocolate cream until it begins to thicken, then take the pan off the heat and let it cool for 5 minutes. When the mixture thickens enough to coat the back of a spoon, it is ready for the next step.
Slowly stream the warm chocolate mixture into the yolk mixture while whisking constantly with a fork or hand mixer. Add it gradually so the yolks warm up without curdling or turning grainy.
Whisk until the mixture is fully combined and a light froth forms on top. The finished custard should look smooth, slightly airy, and evenly colored.
Transfer the custard to the freezer for 4 to 6 hours, stirring it every 1 hour as it chills. You will see ice crystals forming around the edges first, so whisk those back in thoroughly each time.
Serve once the ice cream is set to your liking, or let it sit out briefly if it has firmed up too much after longer freezing. At the best texture, it should scoop with a little resistance and melt creamy on the spoon.