Ice Cream with Chocolate Cookie and Walnut Crunch

1 1/2 teaspoons unflavored gelatin
1 tablespoon water
3 cups low-fat milk, divided
3 large egg yolks1 14-ounce can nonfat sweetened condensed milk
1/4 cup unsweetened cocoa powder
2 ounces chopped unsweetened chocolate
3/4 cup chopped chocolate sandwich (or wafer) cookies
1/4 cup chopped toasted walnuts

Sprinkle gelatin over water in a small bowl; let stand, stirring once or twice, while you make the base for the ice cream.

Pour 1 1/2 cups milk into a large saucepan. Add cocoa and chocolate to the milk.
Heat the milk mixture over medium heat until steaming. Whisk egg yolks and condensed milk in a medium bowl. Gradually pour in the hot milk, whisking until blended. Return the mixture to the pan and cook over medium heat, stirring with a wooden spoon, until the back of the spoon is lightly coated, 3 to 5 minutes. Do not bring to a boil or the custard will curdle.

Strain the custard through a fine-mesh sieve into a clean large bowl. Add the softened gelatin and whisk until melted. Whisk in the remaining 1 1/2 cups milk. Cover and refrigerate until chilled, at least 2 hours.

Whisk the ice cream mixture and pour into the canister of an ice cream maker. Freeze according to manufacturer’s directions. During the last 5 minutes of freezing, add chopped cookies and walnuts to the ice cream maker. If necessary, place the ice cream in the freezer to firm up before serving.