I stumbled upon this video, recently:
I've started using the same method, except I use heavy cream instead of half and half. I skip the sugar and chocolate syrup. I add ~2 tsp of sugar free Da Vinci Syrup, and <1 tsp agave nectar. I've found the recipe doesn't need to be precise, and the result does not raise my BG much, and is as good as most ice cream from the store.