Whisk to combine the chocolate and 1 cup of the cream in a 2 quart saucepan over medium heat. Add the remaining cream. Bring the mixture to a simmer, stirring occasionally, and remove from the heat.
In a medium mixing bowl whisk the egg yolks until they lighten in color. Gradually add the sugar and whisk to combine.
Slowly whisk 1/3 of the cream mixture into the eggs and sugar. Pour in the remaining cream mixture while continuing to whisk.
Return the mixed ingredients to the saucepan over low heat, stirring frequently, until the mixture thickens slightly and reaches 172 F (78 C). Add the garlic.
Pour the mixture into a container and allow to sit at room temperature for 30 minutes. Strain to remove garlic pulp.
Stir in the vanilla extract. Refrigerate for up to 8 hours or until the temperature reaches 40 F (4 C) or below.
Pour into an ice cream maker and process for approximately 30 minutes.
Serve as is for soft serve or freeze for another 4 hours to allow the ice cream to harden.
To make without an ice cream machine: During freezing, every 30 minutes remove container from freezer, stir for 2 minutes, and return to freezer.