Mash the silken tofu until smooth.
In a bowl, combine silken tofu, cocoa powder, sugar, and milk. Mix well.
Blend until silky and smooth.
Add vanilla extract and blend again.
Pour the mixture into a container and freeze for at least 2–3 hours.
Take it out every hour and stir well with a fork, repeating this 2–3 times.
Serve in a bowl with your favorite toppings.