In a saucepan, add in the cocoa powder and sugar. Whisk together until combined.
Add in the soymilk and whisk. Turn the heat on medium and let heat up until the chocolate is completely incorporated into the mixture and smooth. It will take 7-8 minutes for the soymilk to heat up, but not boil.
Remove from heat and chill for about 2 hours to overnight or ice bath it for 1 hour.
Once chilled, add the mixture to a blender with the silken tofu. Blend until completely smooth.
Place in the ice cream maker for the recommended time required by your ice cream maker. Mine recommends no longer than 20 minutes.
Make the salted caramel while the ice cream is in the ice cream maker.
Salted Caramel
Unwrap and measure out 1 cup of caramel. I used <a href="http://www.amazon.com/gp/offer-listing/B0018AN2T2/ref=as_li_tl?ie=UTF8&camp=1789&creative=9325&creativeASIN=B0018AN2T2&linkCode=am2&tag=momscoo-20&linkId=DEWIBQLRCN3QMZVF" rel="nofollow">Peter's Caramel</a><img src="http://ir-na.amazon-adsystem.com/e/ir?t=momscoo-20&l=am2&o=1&a=B0018AN2T2" width="1" height="1" border="0" alt="" style="border:none !important; margin:0px !important;" />.
Add the caramel, soymilk, and salt into a microwave-safe bowl. Microwave for 1 minute.
Stir until the caramel starts to come together.
Place back into the microwave for 45 seconds.
Stir until the caramel is completely incorporated. Let it cool while the ice cream finishes up mixing.
Pour a third of the finished ice cream into the bottom of a loaf pan.
Place a thin layer of caramel on top of the ice cream.
Place another third of the ice cream down and another layer of caramel. Repeat with the last layer.
Give the ice cream a quick swirl with a knife.
Cover with plastic wrap and place in a freezer safe container and freeze for 2 hours or until very firm. Scoop and serve!