In a three quart saucepan, bring the milk to a simmer.
In an electric mixer, using the whisk attachment, beat the egg yolks and sugar for about 4 minutes, or until the batter drips from the whisk in a slow ribbon.
Add half of the warm milk to the mixing bowl. Then add everything in the mixing bowl back into the pot. Over low heat, stirring constantly, mix the custard until it is thick enough to coat the spoon. Take care not to let the mixture boil.
Meanwhile, in a double boiler over hot not boiling water, melt the dark chocolate. Add it to the custard, and then strain it through a fine sieve.
Let the mixture cool for at least 2 hours, or preferably overnight.
Add the mixture to your ice cream maker, and follow the manufacturer's directions.
Towards the end of the churning process, add the chopped up Baci bar or truffles.