This is really easy. It doesn’t freeze really solid in the ice cream freezer but you can always ripen it afterwards in your refrigerator’s freezer if you like it more firm.
1/2 gallon chocolate milk
1 can sweetened condensed milk
8-ounce carton Cool Whip (or other non-dairy whipped topping)
Mix all together and add to an ice cram freezer. If you have a large freezer, milk may be added up to the fill line if desired (I would use cream or half and half instead of milk). Follow manufacturer's directions for freezing.