Place the ice cream canister in the freezer overnight.
Prepare a medium pan with a few inches of water and simmer.
In a large glass bowl, whisk the egg yolks and allulose until smooth.
Place the bowl over the saucepan of simmering water, ensuring that the bottom of the bowl does not touch the water. Whisk for about 8 minutes until the mixture is thick, pale and fluffy and increased in volume.
Remove from the heat and allow to cool for a couple of minutes.
Fold in the mascarpone cheese and stir until combined.
Add the cocoa, salt and melted chocolate and stir well.
In a separate bowl whisk the cream into stiff peaks.
Fold the cream into the mascarpone mixture and gently mix.
Pour into the canister of an ice-cream maker and churn according to manufacturer’s instructions.
Spoon the churned cream into an air tight container and place in the freezer for at least 4 hours.