Whisk together the sugar, milk and egg yolks and cook in a double boiler over simmering water until the mixture thickens, about 10 minutes, stirring frequently. Remove from heat and whisk in cocoa. Add vanilla and cream and refrigerate until cool. Freeze in an ice cream machine according to manufacturer's directions and then pour half of the frozen mixture into a wide flat container. Layer with half of the marshmallows, chocolate chips, caramel and nuts. Spoon remaining ice cream over the top and top with remaining additions. Use a knife to cut through the mixture several times to incorporate the ingredients without over mixing. Freeze until firm in the freezer.
Recipe by Cooking With MicheleĀ® at https://cookingwithmichele.com/2011/08/rocky-road-ice-cream/