In a saucepan, combine the milk, cream, and sugar over medium heat until the sugar is dissolved.

Add the chopped dark chocolate and stir until melted, creating a rich, silky mixture.

In a separate bowl, whisk the egg yolks until they are light and frothy. Gradually add a small amount of the warm chocolate mixture to the egg yolks to temper them, which will help avoid scrambling.

Pour the tempered egg yolk mixture back into the saucepan and cook over low heat, stirring constantly until the mixture thickens and coats the back of a spoon.

Remove from heat and stir in the vanilla extract and salt.

Let the mixture cool, then chill in the refrigerator for at least 4 hours.

Once chilled, churn the mixture in an ice cream maker according to the manufacturer's instructions until it reaches a soft-serve consistency.

Freeze the gelato for a few hours before serving to achieve a firm and scoopable texture.