1. Add the heavy cream and vanilla extract to a large mixing bowl and beat on high speed with an electric mixer until stiff peaks form when the beater is lifted. This should take about 2 minutes.
2. Add the cocoa powder to the mixing bowl and beat for a few seconds until it is fully incorporated.
3. Add the sweetened condensed milk and mix gently for a few more seconds until the mixture is smooth and creamy.
4. Add the Oreo cookie pieces and sprinkles and mix gently with a rubber spatula until fully incorporated.
5. Pour the ice cream mixture into an 8×4 metal loaf pan and top with extra sprinkles and Oreo pieces.
6. Freeze for a minimum of 4 hours for softer ice cream, or overnight for solid, more scoopable ice cream.
7. Remove from the freezer and serve in a cone or bowl with extra toppings!